Uluç Saranlı

E-mail
usaranli@metu.edu.tr
Department
Department of Computer Engineering
Scopus Author ID
Web of Science Researcher ID
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...
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 ...
Deadbeat Control of Running with the ATRIAS Biped Based on Spring-Mass Model with Trunk and Tunable Leg Damping
Seçer, Görkem; Saranlı, Uluç (2018-05-24)
LinGraph: a graph-based automated planner for concurrent task planning based on linear logic
Kortik, Sitar; Saranlı, Uluç (Springer Science and Business Media LLC, 2017-10-01)
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 esta...
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