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TZID:Turkey
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DTSTART:20380119T061407
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DTSTAMP:20190506T153321Z
UID:FEA665C9-0C49-4002-8AA0-B5208C07CE20
DTSTART;TZID=Turkey:20190503T133000
DTEND;TZID=Turkey:20190503T153000
DESCRIPTION:Speaker: Assoc. Prof. Uluç Saranlı\, Middle East Technical Un
 iversity\n\nTopic: "Model-Based\, Reactive Control of Legged Locomotion on
  Rough Terrain"\n\nLocation: Middle East Technical University\, Ankara\, T
 urkey\n\nAbstract: Legged mobility has long been among key research areas 
 in mobile robotics. In this context\, accurate dynamic models of locomotor
 y behaviors provide tools that are useful both in understanding biological
  systems as well as constructing robots and controllers to realize these b
 ehaviors. In this talk\, I will focus on the latter\, using spring-mass mo
 dels that have been instrumental in the understanding and artificial reali
 zation of running behaviors. I will first describe our work in finding app
 roximate analytic solutions for spring-mass models of running\, followed b
 y an application of these approximations in reactive footstep planning on 
 rough terrain. Subsequently\, I will describe a new\, efficient method for
  energy regulation for such systems based on virtual tuning of leg damping
  that facilitates eventual physical realization of this model-based approa
 ch\, characterizing performance through both simulations and experiments.\
 n\nBio: Dr. Uluç Saranlı is a Professor in the Department of Computer En
 gineering in Middle East Technical University\, Ankara\, Turkey. He receiv
 ed his B.S. degree in Electrical and Electronics Engineering from The Midd
 le East Technical University\, Turkey in 1996. He received his M.S. and Ph
 .D. degrees in Computer Science from The University of Michigan in 1998 an
 d 2002\, respectively. He then joined the Robotics Institute in Carnegie M
 ellon University as a postdoctoral associate until 2005. Before joining Mi
 ddle East Technical University in 2012\, he was an Assistant Professor in 
 the Department of Computer Engineering in Bilkent University. His research
  interests focus on autonomous robotic mobility\, with specific contributi
 ons in modeling\, analysis\, control of legged locomotion and behavioral p
 lanning for dynamically dexterous robot morphologies.\n\nSpeaker(s): Prof.
  Uluç Saranlı\, \n\nAnkara\, Ankara\, Türkiye
LOCATION:Ankara\, Ankara\, Türkiye
ORGANIZER:ozergul@metu.edu.tr
SEQUENCE:0
SUMMARY:IEEE AP/MTT/EMC/ED TURKEY CHAPTER SEMINAR SERIES -- SEMINAR 50
URL;VALUE=URI:https://events.vtools.ieee.org/m/198697
X-ALT-DESC:Description: <br /><p>Speaker: Assoc. Prof. Ulu&ccedil\; Saranl
 ı\, Middle East Technical University</p>\n<p>Topic: "Model-Based\, Reacti
 ve Control of Legged Locomotion on Rough Terrain"</p>\n<p>Location:&nbsp\;
 Middle East Technical University\, Ankara\, Turkey</p>\n<p>Abstract: Legge
 d mobility has long been among key research areas in mobile robotics. In t
 his context\, accurate dynamic models of locomotory behaviors provide tool
 s that are useful both in understanding biological systems as well as cons
 tructing robots and controllers to realize these behaviors. In this talk\,
  I will focus on the latter\, using spring-mass models that have been inst
 rumental in the understanding and artificial realization of running behavi
 ors. I will first describe our work in finding approximate analytic soluti
 ons for spring-mass models of running\, followed by an application of thes
 e approximations in reactive footstep planning on rough terrain. Subsequen
 tly\, I will describe a new\, efficient method for energy regulation for s
 uch systems based on virtual tuning of leg damping that facilitates eventu
 al physical realization of this model-based approach\, characterizing perf
 ormance through both simulations and experiments.</p>\n<p>Bio:&nbsp\;Dr. U
 lu&ccedil\; Saranlı is a Professor in the Department of Computer Engineer
 ing in Middle East Technical University\, Ankara\, Turkey. He received his
  B.S. degree in Electrical and Electronics Engineering from The Middle Eas
 t Technical University\, Turkey in 1996. He received his M.S. and Ph.D. de
 grees in Computer Science from The University of Michigan in 1998 and 2002
 \, respectively. He then joined the Robotics Institute in Carnegie Mellon 
 University as a postdoctoral associate until 2005. Before joining Middle E
 ast Technical University in 2012\, he was an Assistant Professor in the De
 partment of Computer Engineering in Bilkent University. His research inter
 ests focus on autonomous robotic mobility\, with specific contributions in
  modeling\, analysis\, control of legged locomotion and behavioral plannin
 g for dynamically dexterous robot morphologies.</p>
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