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Haldun Komsuoglu

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Academic Publications

2009

Sensitive Dependence of the Motion of a Legged Robot on Granular Media

Li, C. and Umbanhowar, P. B. and Komsuoglu, H. and Koditschek, D. E. and Goldman, D. I.
Proceedings of National Academy of Science, February 2009

Dynamic Legged Mobility---an Overview

Komsuoglu, H.
Proceedings of International Joint Robotics Symposium and Competition, May 2009

2008

A Physical Model for Dynamical Arthropod Running on Level Ground

Komsuoglu, H. and Sohn K. and Full, R. J. and Koditschek D. E.
Proceedings of 11th International Symposium on Experimental Robotics, July 2008

Integrating a Hierarchy of Simulation Tools for Legged Robot Locomotion

Slatton, A. and Cohen, D. and Ding, Y. and Umbanhowar, P. B. and Goldman, D. I. and Haynes, G. C. and Komsuoglu, H. and Koditschek, D. E.
Proceedings of Workshop on Robot Simulators, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008

2007

Heterogeneous Leg Stiffness and Roll in Dynamic Running

Burden, S. and Clark, J. and Weingarten, J. and Komsuoglu, H. and Koditschek D. E.
Proceedings of IEEE Conference of Robotics and Automation, 2007

Design of a Bio-inspired Dynamical Vertical Climbing Robot

Clark, J. E. and Goldman, D. I. and Lin, P-C and Lynch, G. and Chen, T. S. and Komsuoglu, H. and Full, R. J. and Koditschek, D. E.
Proceedings of Robotics Science and Systems, 2007

Robotics as the Delivery Vehicle: A contexualized, social, self paced, engineering education for life-long learners

Weingarten, J. D. and Koditschek, D. E. and Komsuoglu, H. and Massey, C.
Robotics Science and Systems Workshop on “Research in Robots for Education”, 2007

2006

Sensor Data Fusion for Body State Estimation in a Hexapod Robot With Dynamical Gaits

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
IEEE Transactions on Robotics, 2006

2005

Sensor Data Fusion for Body State Estimation for a Hexapod Robot with Dynamical Gaits

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
Proceedings of IEEE International Conference on Robotics and Automation, 2005

A Leg Configuration Measurement System for Full Body Posture Estimates in a Hexapod Robot

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
IEEE Transactions on Robotics, 2005

2004

Toward a Formal Framework for Open-Loop Stabilization of Rhythmic Tasks

Komsuoglu, H.
Ph.D. Thesis, University of Michigan, 2004

Legged Odometry from Body Pose in a Hexapod Robot

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
Proceedings of 9th International Symposium on Experimental Robotics, 2004

Toward a 6 DOF Body State Estimator for a Hexapod Robot with Dynamical Gaits

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004

Legged Odometry from Body Pose in a Hexapod Robot

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
Springer Tracts in Advanced Robotics vol. 21: Experimental Robotics IX (ISBN: 978–3−540–28816–9), 2004

2003

A Leg Configuration Sensory System for Dynamical Body State Estimates in a Hexapod Robot

Lin, P-C. and Komsuoglu, H. and Koditschek, D. E.
Proceedings of International Conference on Robotics and Automation, 2003

2001

RHex: A Biologically Inspired Hexapod Runner

Altendorfer, R. and Moore, N. and Komsuoglu, H. and Brown Jr., H. B. and McMordie, D. and Saranli, U. and Full, R. and Koditschek, D. E.
Autonomous Robots, 2001

Proprioception Based Behavioral Advances in a Hexapod Robot

Komsuoglu, H. and McMordie, D. and Saranli, U. and Moore, N. and Buehler, M. and Koditschek, D. E.
Proceedings of International Conference on Robotics and Automation, 2001

2000

Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot

Altendorfer, R. and Saranli, U. and Komsuoglu, H. and Koditschek, D. E. and Brown, Jr. H. B. and Buehler, M. and Moore, N. and McMordie, D. and Full, R.
Proceedings on International Symposium on Experimental Robotics, 2000

The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion

Klavins, E. and Komsuoglu, H. and Full, R. J. and Koditschek, D. E.
Neurotechnology for Biomimetic Robots, 2000

Preliminary Analysis of a Biologically Inspired 1-DOF ‘Clock’ Stabilized Hopper

Komsuoglu, H. and Koditschek, D. E.
Proceedings of World Multiconference on Systemics, Cybernetics and Informatics, 2000


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