Ali U. Kilic

2 accepted papers

2024

Energy Minimization using Custom-Designed Magnetic-Spring Actuators

Yue Yang Fu, Ali U. Kilic, David J. Braun

IROS 2024poster

This study introduces an innovative actuator that resembles a motor with a non-uniform permanent magnetic field. We have developed a prototype of the actuator by combining a standard motor, characterized by a uniform magnetic field, with a custom rotary magnetic spring exhibiting a non-uniform magne…

Cited by 0 Source ↗Scholar ↗

2023

A Novel Approximation for the Spring Loaded Inverted Pendulum Model of Locomotion

Ali U. Kilic, David J. Braun

IROS 2023poster

The Spring-Loaded Inverted Pendulum (SLIP) is one of the simplest models of robot locomotion. SLIP is commonly used to predict the center of mass motion and derive simple control laws for stable locomotion. However, the SLIP model is not integrable, which means that no closed-form relation can be de…

Cited by 2 Source ↗Scholar ↗