3 citations · 6 across the 5 of their papers we have counts for
3 papers · 1 filter
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…