Browsing by Author "Saranli, U."
Now showing items 1-6 of 6
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Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation
(Institute of Physics Publishing Ltd., 2021-08-12)Legged locomotion enables robotic platforms to traverse on rough terrain, which is quite challenging for other locomotion types, such as in wheeled and tracked systems. However, this benefit—moving robustly on rough ... -
Experimental validation of a feed-forward predictor for the spring-loaded inverted pendulum template
(IEEE, 2015-02)Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability ... -
Frequency-domain subspace ıdentification of linear time periodic (LTP) systems
(Institute of Electrical and Electronics Engineers, 2019)This note proposes a new methodology for subspace-based state-space identification for linear time-periodic (LTP) systems. Since LTP systems can be lifted to equivalent linear time-invariant (LTI) systems, we first lift ... -
LinGraph: a graph-based automated planner for concurrent task planning based on linear logic
(Springer New York LLC, 2017)In this paper, we introduce an automated planner for deterministic, concurrent domains, formulated as a graph-based theorem prover for a propositional fragment of intuitionistic linear logic, relying on the previously ... -
Stability and control of planar compass gait walking with series-elastic ankle actuation
(Sage Publications Ltd., 2017)Passive dynamic walking models are capable of capturing basic properties of walking behaviours and can generate stable human-like walking without any actuation on inclined surfaces. The passive compass gait model is among ... -
Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper
(A I P Publishing LLC, 2010)In this paper, we analyze the self-stability properties of planar running with a dissipative spring-mass model driven by torque actuation at the hip. We first show that a two-dimensional, approximate analytic return map ...
