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Towards rich motion skills with the lightweight quadruped robot Serval

Related publications (41)

Online Multicontact Receding Horizon Planning via Value Function Approximation

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Auke Ijspeert, Kamilo Andres Melo Becerra, Robin Thandiackal, Laura Isabel Paez Coy, Kyoichi Akiyama

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

AMER ASSOC ADVANCEMENT SCIENCE2021

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Auke Ijspeert

A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...

2020

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Sylvain Calinon, Teguh Santoso Lembono

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

2020

Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots

Jamie Paik, Zhenishbek Zhakypov, Kazuaki Mori

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

2019

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot

Marco Hutter

The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a mo ...

2019

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Auke Ijspeert, Mohamed Bouri, Jemina Fasola, Tristan Hubert Vouga, Romain Pierre François Baud

This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the posit ...

IEEE2019

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Peter Eckert

Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

EPFL2018

An Overview on Principles for Energy Efficient Robot Locomotion

Salman Faraji

Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...

FRONTIERS MEDIA SA2018

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

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