Humanoid Robots & Robotic Arms

Among all systems, humanoid robots are my passion to work on because they are one of the most complex systems of all that includes various technical area of engineering as well as social disciplines such as psychology and cognitive science. I have spent so much time on designing and producing different robotic arm and bipedal robot platform prototypes, especially when I was at Koç University, in MARC (Manufacturing and Automation Research Center), I attended various courses and built my own platforms for gaining more experience.

Just after graduation, I worked on 7DOF robotic arm design in Gelecek Robotics start-up firm. I mainly have knowledge of robotic arm design and control, kinematics, trajectory planning, PID control applications, tactile feedback, gripper design, sensor integration, image processing and simple decision making algorithms.

During the projects, I worked with:

- Embedded systems with Linux (Raspberry PI, Odroid U3, BeagleBone)

- STM32 microcontrollers and Arduino boards

- SDL, Boost, OpenGL and OpenCV libraries with C,C++

- Depth cameras (Intel RealSense)

- RPLidar v1.0

- RC Servos and Robotis Dynamixel MX series smart servo motors

- ROS Environment (I'm currently improving myself)

Computer Games

As a 10 years old boy, I started learning how to create games on PC by following Game Maker tutorials (by YoYoGames). As years passed, I taught myself object oriented programming, algorithms, AI, computer graphics, 3D low poly modelling and many other concepts. All those shaped my understanding of software and robotics later in my life and helped me a lot.  

Here are some of the those games I created earlier:

Simulations & Simulators

Game programming experience in my early ages turned into an advantage in my university and professional life. I attended classes for advenced programming and algorithms , computer graphics, simulation and modelling courses to improve my skills.

In the RML (Robotics and Mechatronics Laboratory) I had the opportunity to create a car driving simulation for a research and an academic paper is published at the end. The project is also awarded as 1st place in  Automobile R&D Projects Design Competition.


My job experience in Sanlab Simulation & Simulators company added more professional layer over my existing knowledge. I had various roles at simulation development and hardware integration of simulators. 

I designed and produced an I/O interface system for transferring data between training simulator cabinet modules(buttons, joysticks, pedals, relays) and simulation software. It is an embedded system running on a mini Linux boards and I handled both electronics and software parts. Also I prepared user-interface software by using QT for calibrating joysticks, testing simulator cabinets I/O modules.

Virtual Reality

Projects I involved in Milklab Advertisement Technologies were consisting various interactive VR and AR applications which turned all my simulation skills into award-winning projects in advertisement and marketing area. I worked as a Mechatronics Project Developer in a very small but talented team.

We, the team of Milklab, designed virtual reality experience on the driver seat of new model of KIA Sorento, where the system also gives motion feedbacks to the user according to simulation data. By this simulation environment, customers in AutoShow Faire had the opportunity to have a virtual driving test of the new model of KIA Sorento and meet the features in the car by driving with the real steering wheel and pedals.

Along with the KIA Sorento DriVR project, another VR project was a huge sphere which spins by users inside of it while they wear a VR headset. By this way, they freely walk around in the virtual 

KIA Technology World to see new automobile models of the year.

Augmented Reality

Human-Machine Interaction & User Interfaces

In Milklab, another award-winning project was an augmented reality application created for Exxon Mobil1 company.

The requirement of the project was demonstrating the features of Exxon Mobil1 engine oil to mechanics in a more interactive way. Thus, we created a scaled 3D printed engine model that functions along with an app on iPad. AR application includes 3D view of the internals of the engine and shows how oil circulates through engine and improves the motion of the parts. 3D printed engine has some sensors and it's motion is controlled wirelessly by app. The presentation is turned into

a memorable interactive experience by mechanics.

The system includes a main board with Arduino, bluetooth, motor driver, LCD display, oil sensor, rechargeable Li-ion battery packs and covering box. I modeled all the parts, handled 3D printing, designed the electronics and PCBs, assembled all the parts and developed codes.

The project brought 3 Crystal Apple and 3 MediaCat Felis awards to Milklab. After all, more of them is demanded by Exxon Mobil1 and now actively used in Turkey, UK, Spain, Ireland, Germany and Russia.

In most of my projects, mechatronics systems generally involves some kind of human interaction. Thus, user is another important factor in the early design process of the project. I'm so eager to create better interfaces and feedback systems for my projects with various sensors and actuators like tactile haptics and touchscreens. Especially for humanoid robots, HCI is a very crucial topic to consider in design.

For showing sensors data, monitoring the internal communication of a system and remotely controlling outputs, I implemented a very lightweight C++ and OpenGL based UI software which includes various gadgets and common UI elements for mechatronics systems. It is cross-platform software and can run on linux computers with very low hardware specs.

In Milklab, the Interactive Hologram project that we created for KIA was special in terms of an innovative way of interaction of users with the hologram. We integrated hand gesture capture system to allow users to use hand tricks to navigate between the contents of the hologram. 


The Smart IQ was the project for Barilla, which includes a smart big table with touchscreens for giving information about the pasta type that users put on the table. So users can be informed about the details of the pasta by putting the plate on it and touching the coming menu special to the pasta type they have in plate.

I mostly use QT Creator and extensively use the QT libraries with C++. In WalkOVR company, for WalkOVR users, I develop OVRPortal application which is used for configuration of WalkOVR motion capture system. OVRPortal application is a complex software developed in QT Creator and includes many features like 2D/3D graphics rendering, bluetooth communication, server database integration, TCP/UDP connection and SteamVR integration.

Editor Software Development

My first editor tool was for the city simulation I used in academic paper when I was in 2nd grade at university. I needed to create many different city environments with different road paths, buildings and other objects. Thus, I created a top-down view of a world where user puts objects around and generates a map to be used in 3D car driving simulation.

Later on, I created a 3D game editor tool named Playground. It includes easy interface with drag&drop blocks for programming objects. It took so long time for me to implement everything on my own.

My latest ongoing project is an editor software for creating User Interface applications for embedded systems. By using the editor, everyone can create a UI application by drag&drop system of gadgets like gauge, bars, buttons or texts. I used OpenGL libraries and coded in C++ with MS Visual Studio. 

Mobile Robots

This is an omni wheeled mobile robot project I developed in Milklab as a prototype for future applications. It includes three of high power 

DC motors with encoders, omni wheels with 50mm-diameter, main chassis made of laser-cut aluminum plates, bumper sensors, Arduino Due as a main controller, RPLidar and li-ion batteries (3S 8800 mAh).

The ongoing development of the research platform still proceeds in Milklab and it's planned to navigate around the office autonomously. I managed all of the system design, production, assembly and coding. Arduino DUE handles PID and current control algorithms for motion control of motors. Processing is used for the remote monitoring interface with robot control and see lidar data.

Other Projects

During the university years and later, I involved in various projects from many diverse areas of mechatronics and robotics by myself to improve my skills and knowledge. Some of them being;

- Hexapod robots

- Delta and Scara Robots

- Motion Platforms

- Quadcopters

- Modular Robotics

- Wearable Devices

- IoT Products

- GPS & GSM Modules for M2M applications

- 3G and 4G Communication Systems

- 3D Printing solutions

- Solar energy panels and li-ion battery applications

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