Yigit Yazicioglu

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In this paper, we study the kinematics of a legged robot with half-circular leg morphology. In particular, our focus is on the RHex hexapod platform. A new kinematic model for RHex is developed considering the leg shape and its consequences, which was over simplified in the previous models seen in literature. The formulation is an accurate kinematic(More)
This paper discusses the application of Castigliano's Theorem to a half circular beam intended for use as a shaped, tun-able, passively compliant robot leg. We present closed-form equations characterizing the deflection behavior of the beam (whose compliance properties vary along the leg) under appropriate loads. We compare the accuracy of this analytical(More)
During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective projection, the effects of angular disturbances are particularly pronounced as compared to translational(More)
Typical operating conditions for mobile sensor systems, and in particular mobile robots, exhibit a wide range of mechanical disturbances due their ego-motion. Sensor systems mounted on these mobile platforms often suffer to varying degrees from these disturbances. The quality of acquired data is degraded as a result. For instance, the quality of captured(More)
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