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, Turan Söylemez and Neslihan Şengör.
I am interested in robots that make and break contact with their environment. I work in the intersection of robotics, optimization, control theory, learning and non-smooth mechanics. Currently, I am developing a real-time multi-contact model predictive control algorithm with a focus on dynamic manipulation tasks.
Interests
- Robotics
- Optimization
- Control
- Machine Learning
- Dynamics
Education
PhD in Robotics, Ongoing
University of Pennsylvania
BSc in Control Engineering, 2017
Istanbul Technical University
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Publications
(2023).
Consensus Complementarity Control for Multi-Contact MPC.
Submitted to T-RO.
(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 (Honorable Mention for 2022 IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award) (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.