Mustafa Mert Ankaralı

E-mail

mertan@metu.edu.tr

Department

Department of Electrical and Electronics Engineering

ORCID

0000-0002-1235-5373

Scopus Author ID

36154644100

Web of Science Researcher ID

B-8088-2015

Predictive uncertainty in state-estimation drives active sensing Kaan Karagoz, Osman; Kılıç, Ayşegül; Yusuf Aydin, Emin; Ankaralı, Mustafa Mert; UYANIK, İSMAİL (2024-12-04) Animals use active sensing movements to shape the spatiotemporal characteristics of sensory signals to better perceive their environment under varying conditions. However, the underlying mechanisms governing the generation...
Enhancing Autonomous Robot Safety through Localization PerformanceAnalysis Bingöl, Ulaş Süreyya; Hacınecipoğlu, Akif; Ankaralı, Mustafa Mert (2024-10-23)
Feedback motion planning via sequential composition of random elliptical funnels Durmaz, Atakan; Ozdemir, Oguz; Ankaralı, Mustafa Mert (2024-10-15) This paper presents a novel feedback motion planning and control framework tailored for unmanned surface vehicles (USVs), validated through experiments on a physical USV platform. The framework utilizes sparse random neigh...
Biyo-esinlenilmiş Yüzgeç Tabanlı Bir Eyleyici Sisteminin Tasarımı, Karakterizasyonu, Optimizasyonu ve Modellenmesi Durmaz, Atakan; Ankaralı, Mustafa Mert (2024-10-14) Bu makale, yeni bir biyo-esinlenilmiş su altı aktüatör mekanizması için öncü bir optimizasyon yaklaşımı sunmaktadır. Birçok çalışma su altı aktüatör mekanizmalarını incelerken, araştırmamız bu mekanizmanın modellenmesi ve ...
Exploring Motion -Based Active Sensing in Relation to Predictive State -Estimation Uncertainty Ankaralı, Mustafa Mert; Karagoz, Osman Kaan; Kilic, Aysegul; Aydin, Emin Yusuf; Uyanik, Ismail (2024-09-01)
Design and verification of a parallel elastic robotic leg. Tanfener, Emre; Karagoz, Osman Kaan; Candan, Sinan Şahin; Turgut, Ali Emre; Yazıcıoğlu, Yiğit; Ankaralı, Mustafa Mert; Saranli, Uluc (2024-01-29) This paper presents the design and experimental verification of a parallel elastic robotic leg mechanism that aims to capture the dynamics of the linear mass-spring-damper model. The mechanism utilizes a wrapping cam mecha...
Intuitive Force Feedback for Robot-Assisted Load Transport Çelik, Cankan; Ankaralı, Mustafa Mert (2024-01-01) This paper introduces a force-guided robotic platform that aims to reduce musculoskeletal injuries in manufacturing and healthcare environments. The platform utilizes force feedback algorithms, system modeling with distinc...
Contact Consistent Disturbance Estimation for Quadruped Robots Ozden, Hasan Can; Tanfener, Emre; Orhon, Hasan Eftun; Banus, Omer Tarik; Saranlı, Uluç; Ankaralı, Mustafa Mert; Turgut, Ali Emre (2024-01-01) Quadrupedal locomotion in environments without visual aid presents significant challenges in achieving automation capabilities. Often relying solely on IMU sensors and proprioceptive feedback from motors due to limited vis...
Model-Based Unified State and Phase Estimation for Torque Actuated Dissipative Spring-Mass Runner Using Limited Sensory Information KARAGÖZ, OSMAN KAAN; Kılıç, Ayşegül; Ankaralı, Mustafa Mert (2024-01-01) In the field of autonomous legged robotics, accurate state estimation is crucial for control and planning. While traditional methods suffice for fully-actuated platforms, under-actuated systems face challenges due to senso...
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations Sovukluk, Sait; Ott, Christian; Ankaralı, Mustafa Mert (2023-12-19) This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined sta-bilizable trajectory. Our approach aims to increase t...

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