Person
Simon Lukas Hauser
This person is no longer with EPFL
Related publications (16)
Coupling-dependent convergence behavior of phase oscillators with tegotae-control
Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany
A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...
IEEE2021Closed-Loop Robotic Cooking of Scrambled Eggs with a Salinity-based ‘Taste’Sensor
Josephine Anna Eleanor Hughes, Simon Lukas Hauser
The sense of taste is fundamental to a human chef's ability to cook tasty food. To develop robots that can demonstrate human-like cooking, robots need to be equipped with a sense of taste and enabled to use this perception capability to improve or understa ...
Institute of Electrical and Electronics Engineers Inc.2021Reality-assisted evolution of soft robots through large-scale physical experimentation: a review
Josephine Anna Eleanor Hughes, Simon Lukas Hauser
We introduce the framework of reality-assisted evolution to summarize a growing trend towards combining model-based and model-free approaches to improve the design of physically embodied soft robots. In silico, data-driven models build, adapt, and improve ...
MIT Press Journals2021A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras
Auke Ijspeert, Alessandro Crespi, Mehmet Hasan Mutlu, Simon Lukas Hauser, Jorg Conradt, Ibrahim Youssef Youssef, Alexandre Bernardino
The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...
2020Kubits: Solid-State Self-Reconfiguration With Programmable Magnets
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser
Even though many prototypes of 3D self-reconfiguring modular robots (SRMRs) have been developed in recent years, a demonstration involving 1'000 modules remains a challenge. This is largely due to complex mechanics needed to achieve connection, disconnecti ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020Compliance, locomotion and local computation in (self-) reconfigurable modular robots
Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...
EPFL2019An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Hala Khodr, Alexandre Bernardino
Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Searchbased approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in ...
2019Compliant universal grippers as adaptive feet in legged robots
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser
This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...
2018Playdough to Roombots: Towards a Novel Tangible User Interface for Self-reconfigurable Modular Robots
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Alexandre Bernardino
One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system "Roombots", these shapes can be quite arbitrary for a great variety of tasks whil ...
IEEE COMPUTER SOC2018Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts
Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Frédéric Freundler
Jamming of granular media has been shown to possess the property of stiffness variation, transitioning from a soft to a quasi-solid state depending on the packing density of the granules. Recently, a gradual stiffness change for bending has been reported b ...
IEEE COMPUTER SOC2018