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- Uluc. Saranlı, Ömür Arslan, Ömer Morgül
- 2010

This paper introduces an accurate yet analytically simple approximation to the stance dynamics of the SpringLoaded Inverted Pendulum (SLIP) model in the presence of non-negligible damping and non-symmetric stance trajectories. Since the SLIP model has long been established as an accurate descriptive model for running behaviors, its careful analysis is… (More)

- Ömür Arslan, Uluc Saranli
- IEEE Trans. Robotics
- 2012

- Ömür Arslan, Uluc Saranli, Ömer Morgül
- 2009 IEEE International Conference on Robotics…
- 2009

The Spring-Loaded Inverted Pendulum (SLIP) model has long been established as an effective and accurate descriptive model for running animals of widely differing sizes and morphologies, while also serving as a basis for several hopping robot designs. Further research on this model led to the discovery of several analytic approximations to its normally… (More)

- Ömür Arslan, Daniel E. Koditschek
- 2016 IEEE International Conference on Robotics…
- 2016

We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point destination, with the guarantee of no collisions along the way.… (More)

- Ömür Arslan, Uluc Saranli, Ömer Morgül
- 2009 IEEE/RSJ International Conference on…
- 2009

The main driving force behind research on legged robots has always been their potential for high performance locomotion on rough terrain and the outdoors. Nevertheless, most existing control algorithms for such robots either make rigid assumptions about their environments (e.g flat ground), or rely on kinematic planning at low speeds. Moreover, the… (More)

- Ömür Arslan, Daniel E. Koditschek
- 2016 IEEE International Conference on Robotics…
- 2016

In distributed mobile sensing applications, networks of agents that are heterogeneous, respecting both actuation as well as body and sensory footprint, are often modelled by recourse to power diagrams - generalized Voronoi diagrams with additive weights. In this paper, we adapt the body power diagram to introduce its “free subdiagram,”… (More)

- Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
- WAFR
- 2014

We present a centralized online (completely reactive) hybrid navigation algorithm for bringing a swarm of n perfectly sensed and actuated point particles in Euclidean d space (for arbitrary n and d) to an arbitrary goal configuration with the guarantee of no collisions along the way. Our construction entails a discrete abstraction of configurations using… (More)

- Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
- 2012 50th Annual Allerton Conference on…
- 2012

This paper introduces and solves the problem of cluster-hierarchy-invariant particle navigation in Conf (R<sup>d</sup>, J). Namely, we are given a desired goal configuration, x* ϵ Conf (R<sup>d</sup>, J) and τ, a specified cluster hierarchy that the goal supports. We build a hybrid closed loop controller guaranteed to bring any other… (More)

- Ömür Arslan, Dan P. Guralnik, Daniel E. Koditschek
- Discrete Applied Mathematics
- 2017

In this paper we introduce and study three new measures for efficient discriminative comparison of phylogenetic trees. The NNI navigation dissimilarity dnav counts the steps along a “combing” of the Nearest Neighbor Interchange (NNI) graph of binary hierarchies, providing an efficient approximation to the (NP-hard) NNI distance in terms of “edit length”. At… (More)

- Ömür Arslan, Daniel E. Koditschek
- 2017 IEEE International Conference on Robotics…
- 2017

In robotics, it is often practically and theoretically convenient to design motion planners for approximate low-order (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate high-order (e.g., force/torque-controlled) robot models. In this paper, we introduce a novel provably correct approach to… (More)