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ORCIDCagdas D. Onal
Çagdas D. Önal – Cagdas Denizel Onal
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- affiliation: Worcester Polytechnic Institute, USA
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2020 – today
- 2025
[j13]Xuan Liu
, Cagdas D. Onal, Jie Fu:
Integrating Contact-Aware CPG System for Learning-Based Soft Snake Robot Locomotion Controllers. IEEE Trans. Robotics 41: 1581-1601 (2025)- 2024
- [j12]Mehrshad Zandigohar, Mo Han, Mohammadreza Sharif, Sezen Yagmur Günay, Mariusz P. Furmanek, Mathew Yarossi, Paolo Bonato, Cagdas D. Onal, Taskin Padir, Deniz Erdogmus, Gunar Schirner:
Multimodal fusion of EMG and vision for human grasp intent inference in prosthetic hand control. Frontiers Robotics AI 11 (2024) - [c51]Robin Hall, Gabriel Espinosa, Shou-Shan Chiang, Cagdas D. Onal:
Design and Testing of a Multi-Module, Tetherless, Soft Robotic Eel. ICRA 2024: 8821-8827 - [c50]Robin Hall, Cagdas D. Onal:
Untethered Underwater Soft Robot with Thrust Vectoring. ICRA 2024: 8828-8834 - [c49]Shilpa Thakur, Nathalia Diaz Armas, Joseph Adegite, Ritwik Pandey, Joey Mead, Pratap M. Rao, Cagdas D. Onal:
A Tetherless Soft Robotic Wearable Haptic Human Machine Interface for Robot Teleoperation. IROS 2024: 12226-12233 - [c48]Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal, Berk Çalli:
Grow-to-Shape Control of Variable Length Continuum Robots via Adaptive Visual Servoing. IROS 2024: 12710-12717 - 2023
- [j11]Xuan Liu, Cagdas D. Onal, Jie Fu:
Reinforcement Learning of CPG-Regulated Locomotion Controller for a Soft Snake Robot. IEEE Trans. Robotics 39(5): 3382-3401 (2023) - [c47]Steven M. Hyland, Jing Xiao, Cagdas D. Onal:
Predicting Center of Mass by Iterative Pushing for Object Transportation and Manipulation. IROS 2023: 1615-1620 - [c46]Abhinav Gandhi, Shou-Shan Chiang, Cagdas D. Onal, Berk Çalli:
Shape Control of Variable Length Continuum Robots Using Clothoid-Based Visual Servoing. IROS 2023: 6379-6386 - [c45]Shou-Shan Chiang, Michael da Silva, Daniel Moyer, Cagdas D. Onal:
AMoRPH: Analytical Model-Based Real-Time Posture Heuristic Inverse Kinematics Solver for Continuum Robots. ISER 2023: 287-298 - [c44]Merna Elbayoumi, Cagdas D. Onal:
MagFlex: An Electromagnetic Soft Actuator for Safe Human-Robot Interaction. ISER 2023: 299-307 - [c43]Raagini Rameshwar, Erik Howard Skorina, Cagdas D. Onal:
Fabric-Silicone Composite Haptic Muscles for Sensitive Wearable Force Feedback. PETRA 2023: 33-41 - [i8]Xuan Liu, Cagdas D. Onal, Jie Fu:
Technical Report: A Contact-aware Feedback CPG System for Learning-based Locomotion Control in a Soft Snake Robot. CoRR abs/2309.02781 (2023) - 2022
- [c42]Robin Hall, Erik H. Skorina, Shou-Shan Chiang, Cagdas D. Onal:
The Effect of Design and Control Parameters of a Soft Robotic Fish Tail to Maximize Propulsion Force in Undulatory Actuation. BioRob 2022: 1-7 - [c41]Tyler C. Looney, Nathan M. Savard, Gus T. Teran, Archie G. Milligan, Ryley I. Wheelock, Michael Scalise, Daniel P. Perno, Gregory C. Lewin, Carlo Pinciroli, Cagdas D. Onal, Markus P. Nemitz:
Air-Releasable Soft Robots for Explosive Ordnance Disposal. RoboSoft 2022: 687-692 - [i7]Tyler C. Looney, Nathan M. Savard, Gus T. Teran, Archie G. Milligan, Ryley I. Wheelock, Michael Scalise, Daniel P. Perno, Gregory C. Lewin, Carlo Pinciroli, Cagdas D. Onal, Markus P. Nemitz:
Air-Releasable Soft Robots for Explosive Ordnance Disposal. CoRR abs/2202.03243 (2022) - [i6]Xuan Liu, Cagdas D. Onal, Jie Fu:
Reinforcement Learning of a CPG-regulated Locomotion Controller for a Soft Snake Robot. CoRR abs/2207.04899 (2022) - 2021
- [c40]Mason D. Mitchell, Forrest E. Hurley, Cagdas D. Onal:
Fast Probabilistic 3-D Curvature Proprioception with a Magnetic Soft Sensor. CASE 2021: 215-220 - [c39]Shou-Shan Chiang, Hao Yang, Erik H. Skorina, Cagdas D. Onal:
SLInKi: State Lattice based Inverse Kinematics - A Fast, Accurate, and Flexible IK Solver for Soft Continuum Robot Manipulators. CASE 2021: 1871-1877 - [i5]Mo Han, Sezen Yagmur Günay, Ilkay Yildiz, Paolo Bonato, Cagdas D. Onal, Taskin Padir, Gunar Schirner, Deniz Erdogmus:
From Hand-Perspective Visual Information to Grasp Type Probabilities: Deep Learning via Ranking Labels. CoRR abs/2103.04863 (2021) - [i4]Mehrshad Zandigohar, Mo Han, Mohammadreza Sharif, Sezen Yagmur Günay, Mariusz P. Furmanek, Mathew Yarossi, Paolo Bonato, Cagdas D. Onal, Taskin Padir, Deniz Erdogmus, Gunar Schirner:
Multimodal Fusion of EMG and Vision for Human Grasp Intent Inference in Prosthetic Hand Control. CoRR abs/2104.03893 (2021) - [i3]Xuan Liu, Cagdas D. Onal, Jie Fu:
Learning Contact-aware CPG-based Locomotion in a Soft Snake Robot. CoRR abs/2105.04608 (2021) - 2020
- [j10]Erik H. Skorina, Cagdas D. Onal:
Soft Hybrid Wave Spring Actuators. Adv. Intell. Syst. 2(1): 1900097 (2020) - [j9]Ming Luo, Zhenyu Wan, Yinan Sun, Erik H. Skorina, Weijia Tao, Fuchen Chen, Lakshay Gopalka, Hao Yang, Cagdas D. Onal:
Motion Planning and Iterative Learning Control of a Modular Soft Robotic Snake. Frontiers Robotics AI 7: 599242 (2020) - [c38]Yinan Sun, Yuqi Jiang, Hao Yang, Louis-Claude Walter, Junius Santoso, Erik H. Skorina, Cagdas D. Onal:
Salamanderbot: A soft-rigid composite continuum mobile robot to traverse complex environments. ICRA 2020: 2953-2959 - [c37]Ann Marie Votta, Sezen Yagmur Günay, Brian Zylich, Erik H. Skorina, Raagini Rameshwar, Deniz Erdogmus, Cagdas D. Onal:
Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand. IROS 2020: 3397-3403 - [c36]Xuan Liu, Renato Gasoto, Ziyi Jiang, Cagdas D. Onal, Jie Fu:
Learning to Locomote with Artificial Neural-Network and CPG-based Control in a Soft Snake Robot. IROS 2020: 7758-7765 - [c35]Abudula Aihaitijiang, Shou-Shan Chiang, Erik H. Skorina, Cagdas D. Onal:
Ori-Vent: Design and Prototyping of Accessible and Portable Origami-Inspired Ventilators. ISER 2020: 126-136 - [c34]Erik H. Skorina, Cagdas D. Onal:
Discretized Modeling of Planar Pneumatic Continuum Manipulators. RoboSoft 2020: 689-694 - [i2]Xuan Liu, Renato Gasoto, Cagdas D. Onal, Jie Fu:
Learning to Locomote with Deep Neural-Network and CPG-based Control in a Soft Snake Robot. CoRR abs/2001.04059 (2020)
2010 – 2019
- 2019
- [j8]Sihui Li, Raagini Rameshwar, Ann Marie Votta, Cagdas D. Onal:
Intuitive Control of a Robotic Arm and Hand System With Pneumatic Haptic Feedback. IEEE Robotics Autom. Lett. 4(4): 4424-4430 (2019) - [c33]Ann Marie Votta, Sezen Yagmur Günay, Deniz Erdogmus, Çagdas D. Önal:
Force-Sensitive Prosthetic Hand with 3-axis Magnetic Force Sensors. CBS 2019: 104-109 - [c32]Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas D. Onal, Jie Fu:
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. ICRA 2019: 6272-6279 - [c31]Mo Han, Sezen Yagmur Günay, Ilkay Yildiz, Paolo Bonato, Cagdas D. Onal, Taskin Padir, Gunar Schirner, Deniz Erdogmus:
From hand-perspective visual information to grasp type probabilities: deep learning via ranking labels. PETRA 2019: 256-263 - [i1]Renato Gasoto, Miles Macklin, Xuan Liu, Yinan Sun, Kenny Erleben, Cagdas D. Onal, Jie Fu:
A Validated Physical Model For Real-Time Simulation of Soft Robotic Snakes. CoRR abs/1904.02833 (2019) - 2018
- [j7]Erik H. Skorina, Ming Luo, Cagdas D. Onal:
A Soft Robotic Wearable Wrist Device for Kinesthetic Haptic Feedback. Frontiers Robotics AI 5: 83 (2018) - [j6]Ming Luo, Ruibo Yan, Zhenyu Wan, Yun Qin, Junius Santoso, Erik H. Skorina, Cagdas D. Onal:
OriSnake: Design, Fabrication, and Experimental Analysis of a 3-D Origami Snake Robot. IEEE Robotics Autom. Lett. 3(3): 1993-1999 (2018) - [c30]Huitan Mao, Junius Santoso, Cagdas D. Onal, Jing Xiao:
Sim-to-Real Transferable Object Classification Through Touch-Based Continuum Manipulation. ISER 2018: 280-289 - [c29]Yun Qin, Zhenyu Wan, Yinan Sun, Erik H. Skorina, Ming Luo, Cagdas D. Onal:
Design, fabrication and experimental analysis of a 3-D soft robotic snake. RoboSoft 2018: 77-82 - 2017
- [j5]Erik H. Skorina, Ming Luo, Weijia Tao, Fuchen Chen, Jie Fu, Çagdas D. Önal:
Adapting to Flexibility: Model Reference Adaptive Control of Soft Bending Actuators. IEEE Robotics Autom. Lett. 2(2): 964-970 (2017) - [c28]Siamak G. Faal, Shadi Tasdighi Kalat, Cagdas D. Onal:
Decentralized obstacle avoidance in collective object manipulation. AHS 2017: 133-138 - [c27]Shadi Tasdighi Kalat, Siamak G. Faal, Cagdas D. Onal:
Scalable collective impedance control of an object via a decentralized force control method. ACC 2017: 2680-2686 - [c26]Federico Campisano, Selim Ozel, Anand Ramakrishnan, Anany Dwivedi, Nikolaos Gkotsis, Cagdas D. Onal, Pietro Valdastri:
Towards a soft robotic skin for autonomous tissue palpation. ICRA 2017: 6150-6155 - [c25]Junius Santoso, Erik H. Skorina, Ming Luo, Ruibo Yan, Cagdas D. Onal:
Design and analysis of an origami continuum manipulation module with torsional strength. IROS 2017: 2098-2104 - 2016
- [c24]Siamak G. Faal, Cagdas D. Onal:
Regionally Growing Random Trees: A synergistic motion planning and control algorithm for dynamic systems. CASE 2016: 141-147 - [c23]Selim Ozel, Erik H. Skorina, Ming Luo, Weijia Tao, Fuchen Chen, Yixiao Pan, Cagdas D. Onal:
A composite soft bending actuation module with integrated curvature sensing. ICRA 2016: 4963-4968 - [c22]Erik H. Skorina, Weijia Tao, Fuchen Chen, Ming Luo, Cagdas D. Onal:
Motion control of a soft-actuated modular manipulator. ICRA 2016: 4997-5002 - [c21]Siamak G. Faal, Shadi Tasdighi Kalat, Cagdas D. Onal:
Towards collective manipulation without inter-agent communication. SAC 2016: 275-280 - 2015
- [j4]Shuhei Miyashita, Cagdas D. Onal, Daniela Rus:
Multi-crease Self-folding by Global Heating. Artif. Life 21(4): 398-411 (2015) - [j3]Nicola Bezzo, Ankur M. Mehta, Cagdas Denizel Onal, Michael Thomas Tolley:
Robot Makers: The Future of Digital Rapid Design and Fabrication of Robots. IEEE Robotics Autom. Mag. 22(4): 27-36 (2015) - [c20]Erik H. Skorina, Ming Luo, Selim Ozel, Fuchen Chen, Weijia Tao, Cagdas D. Onal:
Feedforward augmented sliding mode motion control of antagonistic soft pneumatic actuators. ICRA 2015: 2544-2549 - [c19]Shadi Tasdighi Kalat, Siamak G. Faal, Ugur Celik, Cagdas D. Onal:
TriBot: A minimally-actuated accessible holonomic hexapedal locomotion platform. IROS 2015: 6292-6297 - [c18]Velin D. Dimitrov, Nicholas Cebry, Çagdas D. Önal, Taskin Padir:
Towards user-centered design of a robotic prosthetic hand with EMG control interfaces. PETRA 2015: 14:1-14:4 - [c17]Weijia Tao, Erik H. Skorina, Fuchen Chen, Jennifer McInnis, Ming Luo, Cagdas D. Onal:
Bioinspired design and fabrication principles of reliable fluidic soft actuation modules. ROBIO 2015: 2169-2174 - [c16]Ming Luo, Erik H. Skorina, Weijia Tao, Fuchen Chen, Cagdas D. Onal:
Optimized design of a rigid kinematic module for antagonistic soft actuation. TePRA 2015: 1-6 - 2014
- [c15]Andrew D. Marchese, Konrad Komorowski, Cagdas D. Onal, Daniela Rus:
Design and control of a soft and continuously deformable 2D robotic manipulation system. ICRA 2014: 2189-2196 - [c14]Mahdi Agheli, Siamak G. Faal, Fuchen Chen, Huibin Gong, Cagdas D. Onal:
Design and fabrication of a foldable hexapod robot towards experimental swarm applications. ICRA 2014: 2971-2976 - [c13]Ming Luo, Weijia Tao, Fuchen Chen, Tri K. Khuu, Selim Ozel, Cagdas D. Onal:
Design improvements and dynamic characterization on fluidic elastomer actuators for a soft robotic snake. TePRA 2014: 1-6 - 2013
- [c12]Samuel M. Felton, Michael Thomas Tolley, Cagdas D. Onal, Daniela Rus, Robert J. Wood:
Robot self-assembly by folding: A printed inchworm robot. ICRA 2013: 277-282 - [c11]Daniel E. Soltero, Brian J. Julian, Cagdas D. Onal, Daniela Rus:
A lightweight modular 12-DOF print-and-fold hexapod. IROS 2013: 1465-1471 - [c10]Shuhei Miyashita, Cagdas D. Onal, Daniela Rus:
Self-pop-up cylindrical structure by global heating. IROS 2013: 4065-4071 - 2012
- [c9]Andrew D. Marchese, Cagdas D. Onal, Daniela Rus:
Towards a Self-contained Soft Robotic Fish: On-Board Pressure Generation and Embedded Electro-permanent Magnet Valves. ISER 2012: 41-54 - 2011
- [c8]Cagdas Denizel Onal, Robert J. Wood, Daniela Rus:
Towards printable robotics: Origami-inspired planar fabrication of three-dimensional mechanisms. ICRA 2011: 4608-4613 - [c7]Andrew D. Marchese, Cagdas D. Onal, Daniela Rus:
Soft robot actuators using energy-efficient valves controlled by electropermanent magnets. IROS 2011: 756-761 - [c6]Cagdas D. Onal, Xin Chen, George M. Whitesides, Daniela Rus:
Soft Mobile Robots with On-Board Chemical Pressure Generation. ISRR 2011: 525-540 - 2010
- [c5]Sangok Seok, Cagdas Denizel Onal, Robert J. Wood, Daniela Rus, Sangbae Kim:
Peristaltic locomotion with antagonistic actuators in soft robotics. ICRA 2010: 1228-1233 - [c4]Nikolaus Correll, Çagdas D. Önal, Haiyi Liang, Erik Schoenfeld, Daniela Rus:
Soft Autonomous Materials - Using Active Elasticity and Embedded Distributed Computation. ISER 2010: 227-240
2000 – 2009
- 2009
- [j2]Cagdas D. Onal, Metin Sitti:
A Scaled Bilateral Control System for Experimental One-dimensional Teleoperated Nanomanipulation. Int. J. Robotics Res. 28(4): 484-497 (2009) - [c3]Cagdas D. Onal, Onur Özcan, Metin Sitti:
Automated 2-D nanoparticle manipulation with an atomic force microscope. ICRA 2009: 1814-1819 - 2007
- [j1]Çagdas D. Önal, Metin Sitti:
Visual Servoing-Based Autonomous 2-D Manipulation of Microparticles Using a Nanoprobe. IEEE Trans. Control. Syst. Technol. 15(5): 842-852 (2007) - [c2]Nicholas A. Lynch, Cagdas D. Onal, Eugenio Schuster, Metin Sitti:
A Strategy for Vision-Based Controlled Pushing of Microparticles. ICRA 2007: 1413-1418 - [c1]Cagdas D. Onal, Chytra Pawashe, Metin Sitti:
A scaled bilateral control system for experimental 1-D teleoperated nanomanipulation applications. IROS 2007: 483-488
Coauthor Index
Erik H. Skorina
aka: Erik Howard Skorina
aka: Erik Howard Skorina
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