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Uluc Saranli
Postdoctoral Fellow

No longer a member of RI.

For more information, see my personal homepage.

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Past Labs & Groups

Microdynamic Systems Laboratory - Exploring the limits of robotics in terms of speed, precision, dexterity and miniaturization.

Past Projects

RHex Robot - We are developing a six legged robot capable of achieving a wide variety of dynamically dextrous tasks.

Robots in Scansorial Environments - We are developing a bioinspired climbing robot with the unique ability to walk on land and climb on vertical surfaces.

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Model-Based Dynamic Self-Righting Maneuvers for a Hexapedal Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 23, No. 9, September, 2004, pp. 903-918. [Abstract]
  Download: pdf [586 KB] copyrighted

• Multi-Point Contact Models for Dynamic Self-Righting of a Hexapod Robot
  U. Saranli, A. Rizzi, and D.E. Koditschek
  Proceedings of the Sixth International Workshop on the Algorithmic Foundations of Robotics (WAFR '04), July, 2004, pp. 75-90. [Abstract]
  Download: pdf [295 KB] copyrighted

• Template Based Control of Hexapedal Running
  U. Saranli and D.E. Koditschek
  Proceedings of the IEEE International Conference On Robotics and Automation, September, 2003. [Abstract]
  Download: pdf [0 KB], ps.gz [1308 KB] copyrighted

• RHex: A Biologically Inspired Hexapod Runner
  R. Altendorfer, E.Z. Moore, H. Komsuoglu, M. Buehler, H. Brown, D. McMordie, U. Saranli, R. Full, and D.E. Koditschek
  Autonomous Robots, Vol. 11, November, 2001, pp. 207 - 213. [Abstract]
  Download: pdf [441 KB] copyrighted

• RHex: A Simple and Highly Mobile Hexapod Robot
  U. Saranli, M. Buehler, and D.E. Koditschek
  International Journal of Robotics Research, Vol. 20, No. 7, July, 2001, pp. 616 - 631. [Abstract]
  Download: pdf [263 KB] copyrighted

• Proprioception Based Behavioral Advances in Hexapod Robot
  H. Komsuoglu, D. McMordie, U. Saranli, N. Moore, M. Buehler, and D.E. Koditschek
  IEEE Int. Conf. Robotics and Automation (ICRA '01), May, 2001.
  Download: pdf [447 KB] copyrighted

• Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
  R. Altendorfer, U. Saranli, H. Komsuoglu, D.E. Koditschek, H. Brown, M. Buehler, N. Moore, D. McMordie, and R. Full
  Experimental Robotics VII, D. Rus and S. Singh, ed., Springer-Verlag, 2001, pp. 291 - 302. [Abstract]
  Download: pdf [346 KB] copyrighted

• Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot
  H. Komsuoglu, R. Altendorfer, U. Saranli, D. Koditschek, H. Brown, M. Buehler, M.N. Moore, D. McMordie, and R. Full
  Proc. of the ISER '00 Seventh International Symposium on Experimental Robotics, December, 2000.
  Download: pdf [377 KB] copyrighted