Mr Gokhan Solak

Gokhan Solak

PhD student

EECS, Supervisor: Dr Lorenzo Jamone
CRISP, Advanced Robotics Center at Queen Mary University of London

gokhansolak.github.com

Research

Robot manipulation, Dexterous robot hands, Machine learning, Tactile sensing, Learning from demonstration

Interests

Learning dexterous hand manipulation from human demonstration Impedance-based control for object manipulation Haptic exploration of objects to improve grasp stability Reinforcement learning using physics simulation

Publications

Publications of specific relevance to Advanced Robotics

2022

Coppola C, Solak G and Jamone L (2022). An affordable system for the teleoperation of dexterous robotic hands using Leap Motion hand tracking and vibrotactile feedback. Conference: 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)  10.1109/ro-man53752.2022.9900583
Xompero A, Donaher S, Iashin V, Palermo F, Solak G, Coppola C, Ishikawa R, Nagao Y, Hachiuma R, Liu Q, Feng F, Lan C, Chan RHM, Christmann G, Song JT, Neeharika G, Reddy CKT, Jain D, Rehman BU and Cavallaro A (2022). The CORSMAL Benchmark for the Prediction of the Properties of Containers. IEEE Access  vol. 10, 41388-41402. 10.1109/ACCESS.2022.3166906

2021

Siddiqui MS, Coppola C, Solak G and Jamone L (2021). Grasp Stability Prediction for a Dexterous Robotic Hand Combining Depth Vision and Haptic Bayesian Exploration. Frontiers in Robotics and AI  vol. 8, 10.3389/frobt.2021.703869
Xompero A, Donaher S, Iashin V, Palermo F, Solak G, Coppola C, Ishikawa R, Nagao Y, Hachiuma R, Liu Q, Feng F, Lan C, Chan RHM, Christmann G, Song J-T, Neeharika G, Reddy CKT, Jain D, Rehman BU and Cavallaro A (2021). The CORSMAL benchmark for the prediction of the properties of containers. 10.48550/arxiv.2107.12719
Iashin V, Palermo F, Solak G and Coppola C (2021). Top-1 CORSMAL Challenge 2020 Submission: Filling Mass Estimation Using Multi-modal Observations of Human-Robot Handovers. 10.1007/978-3-030-68793-9_31
Siddiqui MS, Coppola C, Solak G and Jamone L (2021). Discovering Stable Robot Grasps for¬†Unknown Objects in Presence of¬†Uncertainty Using Bayesian Models. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat  vol. 13054 LNAI, 46-55. 10.1007/978-3-030-89177-0_5

2019

Solak G and Jamone L (2019). Learning by Demonstration and Robust Control of Dexterous In-Hand Robotic Manipulation Skills. IEEE International Conference on Intelligent Robots and Systems  8246-8251. 10.1109/IROS40897.2019.8967567

Grants

Grants of specific relevance to Advanced Robotics
MAN^3: huMAN-inspired robotic MANipulation for advanced MANufacturing
Solak G
Engineering and Physical Sciences Research Council (01-01-2019 - 30-06-2022)