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

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...
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations SOVUKLUK, Sait; Ott, Christian; Ankaralı, Mustafa Mert (2023-12-19)
Distributed Model Predictive Formation Control of Robots with Sampled Trajectory Sharing in Cluttered Environments Satır, Sami; Aktaş, Yasin Furkan; Atasoy, Simay; Ankaralı, Mustafa Mert; Şahin, Erol (2023-12-13)
Motion Control and Planning of a Bio-Inspired Aerial Vehicle with an Actively Controlled Abdomen-Like Appendage GÜNEY, BERRİN; Ankaralı, Mustafa Mert (2023-12-13)
Modeling, Simulation, and Control of a “Sensorless” Cable-Driven Robot Durmaz, Atakan; Albayrak, Özlem; Ünal, Perin; Ankaralı, Mustafa Mert (Springer Nature, 2023-06-01)
Modeling, Simulation, and Control of a “Sensorless” Cable-Driven Robot DURMAZ, ATAKAN; Albayrak, Özlem; Ünal, Perin; Ankaralı, Mustafa Mert (2023-01-01) This paper focuses on the modeling, simulation, control, and experimental validation of a planar cable-driven robot system that operates on the vertical (x-z) plane. Cable-driven robots have recently gained significant att...
Cascaded Model Predictive Control of Underactuated Bipedal Walking with Impact and Friction Considerations Sovukluk, Sait; Ott, Christian; Ankaralı, Mustafa Mert (2023-01-01) This study demonstrates a cascaded model predictive control (C-MPC) method for input constrained control of underactuated planar bipedal walking with any predefined stabilizable trajectory. Our approach aims to increase th...
Sensörsüz Seri Elastik Tekniği ile Bir Kablo Sürümlü Düzlemsel Mekanizmanın Kontrolü Kunduz, İrfan; Durmaz, Atakan; Albayrak, Özlem; Alp, Tilbe; Ünal, Perin; Ankaralı, Mustafa Mert (2022-11-01) Bu çalışmada, sensörsüz elastik seri tekniği ile kablo sürümlü bir düzlemsel mekanizmanın kontrolü incelenmektedir. Kablo sürümlü robotlar, gösteri alanlarında örümcek kamera olarak yatay düzlemde çalışan şekilde hali hazı...
Analysis and control of a running spring-mass model with a trunk based on virtual pendulum concept Karagoz, O K; Secer, G; Ankaralı, Mustafa Mert; Saranli, U (2022-05-26) © 2022 IOP Publishing Ltd.The spring-loaded inverted pendulum model has been one of the most studied conceptual models in the locomotion community. Even though it can adequately explain the center of mass trajectories of n...
Steady-state hybrid extended Kalman filter based sensorless voltage controller for a phase-shifted full-bridge converter Candan, Muhammed Yusuf; Ankaralı, Mustafa Mert (2022-01-01) © 2022 The Authors. IET Power Electronics published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.This study proposes a steady-state hybrid extended Kalman filter-based control method ...

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