Uluç Saranlı

E-mail

usaranli@metu.edu.tr

Department

Department of Computer Engineering

ORCID

0000-0002-2259-3578

Scopus Author ID

6602240964

Web of Science Researcher ID

A-8383-2018

Contact Consistent Disturbance Estimation for Quadruped Robots Ozden, Hasan Can; Tanfener, Emre; Orhon, Hasan Eftun; Banus, Omer Tarik; Saranlı, Uluç; Ankaralı, Mustafa Mert; Turgut, Ali Emre (2024-01-01) Quadrupedal locomotion in environments without visual aid presents significant challenges in achieving automation capabilities. Often relying solely on IMU sensors and proprioceptive feedback from motors due to limited vis...
Efficient bipedal locomotion on rough terrain via compliant ankle actuation with energy regulation Kerimoglu, Deniz; Karkoub, Mansour; Ismail, Uyanik; MORGÜL, ÖMER; Saranlı, Uluç (2021-09-01) 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 terrai...
The Effects of Clinical and Home‐based Physiotherapy Programs in Secondary Head and Neck Lymphedema Ozdemir, Kadirhan; Keser, Ilke; Duzlu, Mehmet; Erpolat, Ozge P.; Saranlı, Uluç; Tutar, Hakan (Wiley, 2020-10-28) Objectives/Hypothesis: To determine the effects of complex decongestive physiotherapy (CDP) and home programs on external lymphedema, staging of lymphedema, fibrosis, and three-dimensional (3D) surface scanning and volume ...
Characterization of Fixed Points of Spring-Mass Model with a Body Govde Eklenmis Yay-Kutle Modelinin Sabit Noktalarinin Karakterizasyonu Karagoz, Osman Kaan; Sever, Izel; Dilsad Er, Guner; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-10-05) © 2020 IEEE.The Spring Loaded Inverted Pendulum (SLIP) template has long been known to be an appropriate model for motion dynamics of legged systems. However, SLIP template does not define the stabilization of upper body w...
Analysis and control of a body-attached spring-mass runner based on central pivot point approach Karagoz, O. Kaan; Sever, Izel; Saranlı, Uluç; Ankaralı, Mustafa Mert (2020-07-01) © 2020 IEEE.The Spring-Loaded Inverted Pendulum (SLIP) template and its extensions have long been used as benchmark models for analyzing the dynamics of legged systems in biology and robotics. The fundamental SLIP model is...
Modelling, control and design of a clutched parallel elastically actuated articulated robotic leg through virtual tunable damping Candan, Sinan Şahin; Tanfener, Emre; Turgut, Ali Emre; Saranlı, Uluç (2020-01-01) In this study, design, modelling and control of a clutched parallel elastically actuated articulated leg is presented. Clutch mechanism is introduced to disengage the parallel elastic element when it is not needed. Some of...
Robotic task planning using a backchaining theorem prover for multiplicative exponential first-order linear logic Kortik, Sitar; Saranlı, Uluç (SPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS, 2019-11) In this paper, we propose an exponential multiplicative fragment of linear logic to encode and solve planning problems efficiently in STRIPS domain, that we call the Linear Planning Logic (LPL). Linear logic is a resource ...
Frequency-domain subspace identification of linear time-periodic (LTP) systems Uyanık, İsmail; Saranlı, Uluç; Ankaralı, Mustafa Mert; Cowan, Noah J.; Morgül, Ömer (Institute of Electrical and Electronics Engineers (IEEE), 2019-06) This paper 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 i...
Control of Planar Spring-Mass Running Through Virtual Tuning of Radial Leg Damping Secer, Gorkem; Saranlı, Uluç (Institute of Electrical and Electronics Engineers (IEEE), 2018-10-01) Existing research on dynamically capable legged robots, particularly those based on spring-mass models, generally considers improving in isolation either the stability and control accuracy on the rough terrain, or the ener...
Estimation of Ground Reaction Forces Using Low-Cost Instrumented Forearm Crutches Seylan, Çağlar; Saranlı, Uluç (2018-06-01) Instrumented crutches are useful for many rehabilitation tasks, including monitoring the correctness of crutch use, analyzing gait properties for patients with lower-limb impairments, as well as providing sensory data for ...

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