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

Initial Design for Smart Micro Lunar Exploration Rovers for Intelligent Collaborative Tasking Ankaralı, Mustafa Mert; Güloğlu, Görkem Eğemen; Söken, Halil Ersin; Aycan, Teoman Efe; Kangal, Ahmet Mustafa; Bodur, Abdullah Naci; Üstündaş, Şahin Umutcan; Özduygu, Mete Oğulcan; Gökdemir, Emirhan Burak; Mut, Tarık; Kazaz, Eren; Başkan Perçin, Özge; Barman, Onur; Çelik, Onur (2025-09-29) Chang'e-8, the final mission of the fourth phase of China's lunar exploration project, is scheduled for launch around 2028. It will conduct detection and research on lunar multi-physical fields, regional geological profile...
Simulation and Control of an Unmanned Lunar Rover at the Moon’s South Pole: Leveraging Challenging Illumination Conditions for Enhanced Exploration Durmaz, Atakan; Güloğlu, Görkem Eğemen; Turgut, Ali Emre; Alatan, Abdullah Aydın; Söken, Halil Ersin; Ankaralı, Mustafa Mert; Üstündaş, Şahin Umutcan; Özduygu, Mete Oğulcan (2025-09-29) This study explores the motion planning and control of a lunar rover designed for exploration at the Moon's south pole. The mission aims to explore permanently shadowed regions believed to contain water ice deposits, ident...
From Walking to Running: A Comprehensive Clock Torque Actuated SLIP Framework for Trotting in Quadrupedal Locomotion Akbaba, Mustafa; Saranlı, Uluç; Turgut, Ali Emre; Ankaralı, Mustafa Mert (2025-08-29) This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems, with a focus on smooth transitions between walking trot, regular trot, and flying (running) trot. First, we...
Model Based Human Behaviour and Intention Estimation in Physical Human-Robot Interaction Scenarios Ozkara, Efe; Ankaralı, Mustafa Mert (2025-01-01) This research introduces a framework for physical Human-Robot Interaction (pHRI) scenarios that estimates human behavior and intention. By incorporating this estimation template, velocity-based adaptive controllers can enh...
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...

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