Speaker: Assoc. Prof. Uluç Saranlı, Middle East Technical University

Topic: "Model-Based, Reactive Control of Legged Locomotion on Rough Terrain"

Location: Middle East Technical University, Ankara, Turkey

Abstract: Legged mobility has long been among key research areas in mobile robotics. In this context, accurate dynamic models of locomotory behaviors provide tools that are useful both in understanding biological systems as well as constructing robots and controllers to realize these behaviors. In this talk, I will focus on the latter, using spring-mass models that have been instrumental in the understanding and artificial realization of running behaviors. I will first describe our work in finding approximate analytic solutions for spring-mass models of running, followed by 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 approach, characterizing performance through both simulations and experiments.

Bio: Dr. Uluç Saranlı is a Professor in the Department of Computer Engineering in Middle East Technical University, Ankara, Turkey. He received his B.S. degree in Electrical and Electronics Engineering from The Middle 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 and 2002, respectively. He then joined the Robotics Institute in Carnegie Mellon University as a postdoctoral associate until 2005. Before joining Middle 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 contributions in modeling, analysis, control of legged locomotion and behavioral planning for dynamically dexterous robot morphologies.

  Date and Time




  • Ankara, Ankara
  • Turkey



Prof. Uluç Saranlı


Model-Based, Reactive Control of Legged Locomotion on Rough Terrain