Browsing by Author "Uyanik, I."
Now showing items 1-5 of 5
-
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 ... -
Enhancing 3D range image measurement density via dynamic Papoulis-Gerchberg algorithm
(SAGE Publications, 2018)As one of the most popular range detection methods, lidar is commonly used in various robotic applications. Although most robotic platforms easily adopt 2D lidar for range sensing, 3D lidar is rarely used in mobile robots, ... -
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 ... -
A low-cost feedback control systems laboratory setup via Arduino-Simulink interface
(John Wiley and Sons, 2018)Control theory education, when supported by practice, becomes more comprehendible for students and useful for their professional career. This paper presents low-cost experiments for laboratory sessions of a feedback control ...
