2025

1. 

   Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules

   Ogulcan Isitman, Gokhan Alcan, and Ville Kyrki

   IEEE Robotics and Automation Letters, 2025

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   Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic interactions, especially when there are complex navigation requirements such as avoidance of sensitive tissues. In this work, we present a novel trajectory planning and control method incorporating dynamics and navigation requirements, using a single EPM fixed to a robotic arm to manipulate an internal permanent magnet (IPM). Our approach employs a constrained iterative linear quadratic regulator that considers the dynamics of the IPM to generate optimal trajectories for both the EPM and IPM. Extensive simulations and real-world experiments, motivated by capsule endoscopy operations, demonstrate the robustness of the method, showcasing resilience to external disturbances and precise control under varying conditions. The experimental results show that the IPM reaches the goal position with a maximum mean error of 0.18 cm and a standard deviation of 0.21 cm. This work introduces a unified framework for constrained trajectory optimization in magnetic manipulation, directly incorporating both the IPM’s dynamics and the EPM’s manipulability.

   @article{isitman2025trajectory,
     title = {Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules},
     author = {Isitman, Ogulcan and Alcan, Gokhan and Kyrki, Ville},
     journal = {IEEE Robotics and Automation Letters},
     year = {2025},
     publisher = {IEEE},
     dimensions = {true},
   }

2022

1. 

   Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

   Ogulcan Isitman, Hakan Kandemir, Gokhan Alcan, and 2 more authors

   In 2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2022

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   Magnetic manipulation of particles at close vicinity is a challenging task. In this paper, we propose simultaneous and independent manipulation of two identical particles at close vicinity using two mobile robotic electromagnetic needles. We developed a neural network that can predict the magnetic flux density gradient for any given needle positions. Using the neural network, we developed a control algorithm to solve the optimal needle positions that generate the forces in the required directions while keeping a safe distance between the two needles and particles. We applied our method in five typical cases of simultaneous and independent microparticle manipulation, with the closest particle separation of 30 μm.

   @inproceedings{isitman2022,
     title = {Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles},
     author = {Isitman, Ogulcan and Kandemir, Hakan and Alcan, Gokhan and Cenev, Zoran and Zhou, Quan},
     booktitle = {2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)},
     pages = {1--6},
     year = {2022},
     organization = {IEEE},
     doi = {10.1109/MARSS55884.2022.9870468},
     dimensions = {true}
   }

2021

1. 

   Non-contact cooperative manipulation of magnetic microparticles using two robotic electromagnetic needles

   Oğulcan Işıtman, Houari Bettahar, and Quan Zhou

   IEEE Robotics and Automation Letters, 2021

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   In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle manipulation system. We employ two 3 degrees of freedom (DOF) robotic electromagnetic needles to achieve an over-actuated manipulator, which can move the particle to any position in the planar workspace from any direction. The redundant DOFs, combined with an optimization-based control approach, enable the manipulator to achieve accurate path following and avoid the collision of needles. Using visual servoing, the developed controller can achieve line following accuracy of 0.33±0.32 μm, square following accuracy of 0.77±0.55 μm, and circle following accuracy of 0.89±0.66 μm with a 4.5 μm diameter superparamagnetic particle. The manipulator can also manipulate a particle along complex paths such as infinity symbol and letter symbols.

   @article{isitman21,
     title = {Non-contact cooperative manipulation of magnetic microparticles using two robotic electromagnetic needles},
     author = {I{\c{s}}{\i}tman, O{\u{g}}ulcan and Bettahar, Houari and Zhou, Quan},
     journal = {IEEE Robotics and Automation Letters},
     volume = {7},
     number = {2},
     pages = {1605--1611},
     year = {2021},
     publisher = {IEEE},
     doi = {10.1109/LRA.2021.3137546},
     url = {https://ieeexplore.ieee.org/abstract/document/9661434},
     dimensions = {true},
   }