Publications
| Journal Publications | |
|---|---|
| I. Uyanik, U. Saranli, M. M. Ankarali, N. J. Cowan, and O. Morgul. “Frequency-Domain Subspace Identification of Linear Time Periodic (LTP) Systems”. IEEE Trans. Automat. Contr., 64(6):2529-2536, 2019. | |
| R. Nickl, M. M. Ankaralı, and Noah J. Cowan. “Complementary spatial and timing control in rhythmic arm movements” . J. Neurophysiol., 121(4):1543-1560, 2019. | |
| I. Uyanik, H. Hamzacebi, and M. M. Ankarali. “State-space identification of switching linear discrete time-periodic systems with known scheduling signals” . Turk. J. Electr. Eng. Co., 27(4):2755-2768, 2019. | |
| E. Ege, and M. M. Ankarali. “Feedback motion planning of unmanned surface vehicles via random sequential composition”. Trans. Inst. Measurement Control, 41(12):3321-3330, 2019. | |
| E. D. Tytell, J. A. Carr, N. Danos, C. Wagenbach, C M Sullivan, T. Kiemel, N. J. Cowan and M. M. Ankarali. “Body stiffness and damping depend sensitively on the timing of muscle activation in lampreys”. Integr Comp Biol, 58(5):860–873, 2018. [pdf] | |
| M. M. Ankarali, S. Sefati, M. S. Madhav, A. Long, A. J. Bastian, and N. J. Cowan. “Walking dynamics are symmetric (enough)”. J. R. Soc. Interface, 12: 20150209, 2015. [pdf] | |
| I. Uyanik, M. M. Ankarali, N. J. Cowan, U. Saranli, and O. Morgul. “Identification of a vertical hopping robot model via harmonic transfer functions”. Trans. Inst. Measurement Control, 38(5):501-511, 2016. [pdf] | |
| N. J. Cowan, M. M. Ankarali, J. P. Dyhr, M. S. Madhav, E. Roth, S. Sefati, S. Sponberg, S. A. Stamper, E. S. Fortune, and T. L. Daniel . “Feedback control as a framework for understanding tradeoffs in biology”. Integr Comp Biol, 54(2):223-237, 2014. [pdf] | |
| M. Mert Ankaralı, H. Tutkun Şen, Avik De, Allison M. Okamura, and Noah J. Cowan. “Haptic Feedback Enhances Rhythmic Motor Control By Reducing Variability, Not Improving Convergence Rate”. J Neurophysiol, 111(6):1286-1299, 2014. [pdf] [Download cover illustration] | |
| M. M. Ankarali, and U. Saranli. “Control of Underactuated Planar Pronking Through an Embedded Spring-Mass Hopper Template”. Autonomous Robots. 30(2):217-231, 2011. [pdf] | |
| M. M. Ankarali and U. Saranli. “Stride-to-stride energy regulation for robust self-stability of a torque-actuated dissipative spring-mass hopper”. Chaos 20, 033121, 2010. [pdf] | |
| U. Saranli, O. Arslan, M. M. Ankarali and O. Morgul. “Approximate Analytic Solutions to Non-symmetric Stance Trajectories of the Passive Spring-Loaded Inverted Pendulum with Damping”. Nonlinear Dynamics. 62(4):729-742, 2010. [pdf] |
![[Download cover illustration]](https://limbs.lcsr.jhu.edu/wp-content/uploads/2013/05/ankarali_cover.jpeg){kind=link}
| Refereed Conference Papers | |
|---|---|
| M. Ozcan, and M. M. Ankarali “Feedback Motion Planning For a Dynamic Car Model via Random Sequential Composition” . In Proc. IEEE International Conference on Systems, Man and Cybernetics (SMC). Bari, Italy, 2019. | |
| F. Golbol, M. M. Ankarali, and A. Saranli. “RG-Trees: Trajectory-Free Feedback Motion Planning Using Sparse Random Reference Governor Trees” . In Proc. IEEE International Conference on Intelligent Robots and Systems (IROS). Madrid, Spain, 2018. |
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| I. Uyanik, U. Saranli, O. Morgul, and M. M. Ankarali, “Parametric Identification of Hybrid Linear- Time-Periodic Systems” . In Proc. IFAC Symposium on System Structure and Control. Istanbul, Turkey, 2016. | |
| I. Uyanik*, M. M. Ankarali*. N. J. Cowan, U. Saranli, O. Morgul, and Hitay Ozbay, “ Independent Estimation of Input and Measurement Delays for a Hybrid Vertical Spring-Mass-Damper via Harmonic Transfer Functions“. In Proc. IFAC Workshop on Time Delay Systems, Ann Arbor, MI, USA, 2015. *Contributed equally. | |
| I. Uyanik, M. M. Ankarali. N. J. Cowan, U. Saranli, and O. Morgul “ Toward Data-Driven Models of Legged Locomotion using Harmonic Transfer Functions“. In Proc. 17th International Conference on Advanced Robotics, Istanbul, Turkey, 2015. | |
| M. M. Ankarali, and N. J. Cowan. “System Identification of Rhythmic Hybrid Dynamical Systems via Discrete Time Harmonic Transfer Functions” . In Proceedings of the Conference on Decisions and Controls (CDC). Los Angeles, CA, USA, 2014. | |
| M. M. Ankarali, E. Sayginer, Y. Yazicioglu , A. Saranli and U. Saranli. “A Dynamic Model of Running with a Half-Circular Compliant Leg” . 15th International Conference on Climbing and Walking Robots (CLAWAR) , July 2012, Baltimore, MD, USA. (Best Technical Paper Award, Highly Commended Paper) | |
| A. Demir, M. M. Ankarali, J. P. Dyhr, K. A. Morgansen, T. L. Daniel, and N. J. Cowan. “Inertial redirection of thrust forces for flight stabilization” . 15th International Conference on Climbing and Walking Robots (CLAWAR), July 2012, Baltimore, MD, USA. | |
| M. M. Ankarali and U. Saranli. “Analysis and Control of a Dissipative Spring-Mass Hopper with Torque Actuation” . In Proceedings of Robotics: Science and Systems (RSS), June 2010, Zaragoza, Spain. | |
| M. M. Ankarali, U. Saranli and A. Saranli. “Control of Underactuated Planar Hexapedal Pronking Through a Dynamically Embedded SLIP Monopod” . In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2010, Anchorage, USA. | |
| M. M. Ankarali, O. Arslan and U. Saranli. “An analytical solution to the stance dynamics of passive spring-loaded inverted pendulum with damping” . In Proceedings of the 12th International Conference on Climbing and Walking Robots (CLAWAR) , September 2009, İstanbul , Turkey. |
| Theses | |
|---|---|
| M. M. Ankarali. “Variability, Symmetry, and Dynamics in Human Rhythmic Motor Control”. Doctoral thesis, Johns Hopkins University, 2015. | |
| M. M. Ankarali. “Control of Hexapedal Pronking Through a Dynamically Embedded Spring-Loaded Inverted Pendulum Template”. M.S. thesis, Middle East Technical University, January 2010. |
| Datasets | |
|---|---|
| M. M. Ankarali, A. Long, A. J. Bastian, and N. J. Cowan (2015) Data from: Walking dynamics are symmetric (enough). Version 1, Johns Hopkins University Data Archive. http://dx.doi.org/10.7281/T15Q4T12 |