Alessandro Crespi

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Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

Auke Ijspeert, Alessandro Crespi, André Guignard, Konstantinos Karakasiliotis

In this paper, we present Salamandra robotica II: an amphibious salamander robot that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on the ground. The paper first ...

Ieee-Inst Electrical Electronics Engineers Inc2013

Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

Alessandro Crespi

Ants live in organized societies with a marked division of labor among workers, but little is known about how this division of labor is generated. We used a tracking system to continuously monitor individually tagged workers in six colonies of the ant Camp ...

American Association for the Advancement of Science2013

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

Auke Ijspeert, Alessandro Crespi, Konstantinos Karakasiliotis, Jérémie Knüsel

Oxford University Press2013

Online optimization of swimming and crawling in an amphibious snake robot

Auke Ijspeert, Alessandro Crespi

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...

2008

Controlling swimming and crawling in a fish robot using a central pattern generator

Auke Ijspeert, Alessandro Crespi, Daisy Lachat, Ariane Pasquier

Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of th ...

2008

Design and control of amphibious robots with multiple degrees of freedom

Alessandro Crespi

This thesis presents the design and realization of two generations of robot elements that can be assembled together to construct amphibious mobile robots. These elements, designed to be individually waterproof and having their own battery, motor controller ...

EPFL2007

From swimming to walking with a salamander robot driven by a spinal cord model

Auke Ijspeert, Alessandro Crespi

The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can b ...

American Association for the Advancement of Science2007

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Auke Ijspeert, Alessandro Crespi

This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the n ...

IEEE2007

AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

Auke Ijspeert, Alessandro Crespi

2006

BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator

Auke Ijspeert, Alessandro Crespi, Daisy Lachat

2006

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