IntechOpen Book Series Mobile Robotics Volume 2

Volkan Sezer is currently an Associate Professor in the Control and Automation Engineering Department of Istanbul Technical University. He received his B.Sc. in Electronics and Telecommunication Engineering from Yildiz Technical University, Istanbul, Turkey in 2005, his M.Sc. in Mechatronics Engineering and his Ph.D. in Control and Automation Engineering from Istanbul Technical University, Istanbul, Turkey in 2008 and 2012 re-

spectively. After his PhD. he did research in Singapore as an MIT (Massachusetts Institute of Technology) researcher in the Future Urban Mobility (FM) group. His research interests are based on the artificial intelligence for robotics and automotive technology. More specifically autonomous/semi-autonomous ground vehicles, active safety, robot autonomy and energy efficiency of hybrid electric vehicles are the main subjects of his research.

Sinan Öncü received his B.Sc. degree in electronics and telecommunications engineering and his M.Sc. degree in mechatronics engineering from Istanbul Technical University (ITU), in 2005 and 2008, respectively, and his Ph.D. degree in mechanical engineering from the Eindhoven University of Technology (TU/e), in 2014. From 2013 to 2016, he was a research scientist at the Integrated Vehicle Safety Department, Netherlands Organization for

Applied Scientific Research (TNO) Technical Sciences. Since 2019, he has been an assistant professor in the Mechanical Engineering Department at Boğaziçi University where he is also the Director of Smart and Autonomous Mobility Research Lab. His research focuses on cooperative localization, sensing, control, and coordination of automated air and ground vehicles with a particular focus on automotive and mobile robotics applications.

Pinar Boyraz received double-major B.Sc. degrees in mechanical and textile engineering from Istanbul Technical University (ITU), İstanbul, Turkey, in 2003 and 2004 and a Ph.D. degree in mechatronics from the Wolfson School of Mechanical and Manufacturing Engineering, Loughborough University, Loughborough, U.K., in 2008. From 2008 to 2010, she was a Post-doctoral RA in the Erik Jonsson School of Engineering and Computer Sci-

ence, University of Texas at Dallas, USA, focusing on driver behavior modeling and active safety system development. From 2010 to 2014, she was an Assistant Professor and from 2014 to 2018, an Associate Professor of the Mechanical Engineering Department, ITU, conducting research in applied robotics. Since March 2018, she

has been an Associate Professor with the Mechanics and Maritime Sciences Department, Chalmers University of Technology, Gothenburg, Sweden. Her research interests broadly include applications of mathematical modeling, mechatronics, signal processing, and control theory. She was awarded by the Alexander von Humboldt Foundation with Experienced Researcher Fellowship during her research in applied robotics at Leibniz Universität Hannover, Germany, in 2016 and 2017.

Contents

**Preface III**

**Note from the Publisher VII**

**Chapter 1 1**

**Chapter 2 17**

**Chapter 3 39**

**Chapter 4 59**

**Chapter 5 79**

**Chapter 6 93**

**Chapter 7 109**

**Chapter 8 133**

Safe Human-Robot Interaction Using Variable Stiffness,

*by Pinar Boyraz Baykas, Ertugrul Bayraktar and Cihat Bora Yigit*

Development of a Versatile Modular Platform for Aerial Manipulators *by Nikolaos Evangeliou, Athanasios Tsoukalas, Nikolaos Giakoumidis,* 

Application of Artificial Intelligence (AI) in Prosthetic and

Guidance-Based Motion Planning of Autonomous Systems

*by Volkan Sezer, Rahman Salim Zengin, Hosein Houshyari* 

Embedded Devices Security Based on ICMetric Technology

Manipulating Complex Robot Behavior for Autonomous and

*by Khattab M. Ali Alheeti, Duaa Al\_Dosary* 

*by Chengliang Liu, Liang Gong and Wei Zhang*

Robotization and Welfare Trends in Future

Conversion of a Conventional Wheelchair into an Autonomous

Hyper-Redundancy, and Smart Robotic Skins

*by Smita Nayak and Rajesh Kumar Das*

*Steffen Holter and Anthony Tzes*

Personal Transportation Testbed

*and Murat Cenk Yilmaz*

*and Salah Sleibi Al-Rawi*

Continuous Operations

*by Belma Kencebay*

Orthotic Rehabilitation

*by Bülent Özkan*

## **Editors of Volume 2: Volkan Sezer**

Department of Control and Automation Engineering, Istanbul Technical University, Istanbul, Turkey
