3 citations · 6 across the 5 of their papers we have counts for
6 papers
Temporal and spatial couplings in the dynamics of human walking and running
Mustafa Mert Ankarali
Rhythmic behaviours such as walking and running are commonly modelled as dynamical systems around a stable limit cycle. To keep such models tractable, it is usually assumed that ea…
MDE-VIO: Enhancing Visual-Inertial Odometry Using Learned Depth Priors
Arda Alniak, Sinan Kalkan, Mustafa Mert Ankarali +2
Traditional monocular Visual-Inertial Odometry (VIO) systems struggle in low-texture environments where sparse visual features are insufficient for accurate pose estimation. To add…
Koopman Model Dimension Reduction via Variational Bayesian Inference and Graph Search
Selin Ezgi Ozcan, Mustafa Mert Ankarali
Koopman operator recently gained increasing attention in the control systems community for its abilities to bridge linear and nonlinear systems. Data driven Koopman operator approx…
Stochastic stability analysis of legged locomotion using unscented transformation
Guner Dilsad ER, Mustafa Mert Ankarali
In this manuscript, we present a novel method for estimating the stochastic stability characteristics of metastable legged systems using the unscented transformation. Prior methods…
Adaptive Control of Underactuated Planar Pronking Hexapod
Güner Dilşad Er, Mustafa Mert Ankaralı
Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first princ…
Identification of a Hybrid Spring Mass Damper via Harmonic Transfer Functions as a Step Towards Data-Driven Models for Legged Locomotion
İsmail Uyanık, Mustafa Mert Ankaralı, Noah J. Cowan +2
There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviors such…