M. Mert Ankarali, Ph.D

mert Mustafa Mert ANKARALI, Ph.D

The Johns Hopkins University
Department of Mechanical Engineering

Email: mertankarali at jhu dot edu
Google Scholar Profile

Academic History

    		•  Ph.D. in Mechanical Engineering, Johns Hopkins University, Baltimore, USA, 2015.
    Advisor: Prof. Noah Cowan
    		• M.S.E. in Mechanical Engineering, Johns Hopkins University, Baltimore, USA, 2012.
    Advisor: Prof. Noah Cowan
    		• M.S. in Electrical & Electronics Engineering, Middle East Technical University, Ankara, Turkey, 2010.
    Advisors: Prof. Afsar Saranli and Prof. Uluc Saranli
    		• Minor in Mechatronics, Middle East Technical University, Ankara, Turkey, 2008.
    		• B.S. in Mechanical Engineering, Middle East Technical University, Ankara, Turkey 2007.

    Publications

      Journal Publications
    		1. 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]
    		2. 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]
    		3. 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]
      		5. 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]
      		6. 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]
      		7. 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]
      		8. 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]
      Refereed Conference Papers
    		1. 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, 2015. *Contributed equally.
    		2. 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.
    		3. 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). December 2014, Los Angeles, CA, USA [pdf].
      		5. 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. [pdf] (Best Technical Paper Award, Highly Commended Paper)
      		6. 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. [pdf]
      		7. 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. [pdf]
      		8. 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. [pdf]
      		9. 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. [pdf]
      Theses
    		1. M. M. Ankarali. “Variability, Symmetry, and Dynamics in Human Rhythmic Motor Control”. Doctoral thesis, Johns Hopkins University, 2015.
      		3. 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
    		1. 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