Biography
I am a doctoral candidate in the ESE department and the GRASP Lab at Penn where I am advised by Michael Posa. Previously, I was an undergraduate at Istanbul Technical University where I worked with İbrahim Eksin, M. Turan Söylemez and Neslihan Serap Şengör.
I am interested in intersection of robotics, control theory, non-smooth mechanics and optimization. I am working on real-time multi-contact optimal control and currently validating our methods on a physical robot executing dynamic manipulation tasks. I am also exploring reinforcement learning algorithms for the same class of systems.
Interests
- Robotics
- Optimization
- Control
- Machine Learning
- Dynamics
Education
PhD in Robotics, Ongoing
University of Pennsylvania
BSc in Control Engineering, 2017
Istanbul Technical University
Publications
(2022).
Real-Time Multi-Contact Model Predictive Control via ADMM.
In ICRA (Outstanding Dynamics and Control Paper Finalist) .
(2022).
Learning Linear Complementarity Systems.
In L4DC.
(2022).
Stabilization of Complementarity Systems via Contact-Aware Controllers.
In TRO (Best Paper Finalist, TC on Model-Based Optimization for Robotics) .
(2022).
Framework and Software for Real-Time Multi-Contact Model Predictive Control.
In RSS Workshop.
(2020).
Contact-Aware Controller Design for Complementarity Systems.
In ICRA.