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Alexander Spröwitz

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Publications associées (21)

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Spinal joint compliance and actuation in a simulated bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mohammad Khodabakhsh

Spine movements play an important role in quadrupedal locomotion, yet their potential benefits in locomotion of quadruped robots have not been systematically explored. In this work, we investigate the role of spinal joint actuation and compliance on the bo ...

Springer2017

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Peter Eckert

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine conﬁguration. Both spine con- ﬁgurations bend in the sagi ...

2015

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The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method t ...

2014

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In this work we provide hands-on experience on designing and testing a self-reconfiguring modular robotic system, Roombots (RB), to be used among others for adaptive furniture. In the long term, we envision that RB can be used to create sets of furniture, ...

Elsevier2014

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In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

Frontiers Research Foundation2014

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We present Lynx-robot, a quadruped, modular, compliant robot. It features an either directly actuated, singlejoint spine design, or an actively supported, passive compliant, multi-joint spine configuration. This study aims at characterizing these two, larg ...

2014

Rich Locomotion Skills with the Oncilla Robot

Auke Ijspeert, Massimo Vespignani, Alexander Spröwitz, Mostafa Ajallooeian, Peter Eckert, Alexandre Tuleu

We are motivated to better understand how adaptive locomotion (rough terrain locomotion, turning, gait transition, etc) can be realized using a quadrupedal platform with constrained resources. These constraints include computational power limitation, no ac ...

2014

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Auke Ijspeert, Massimo Vespignani, Alexander Spröwitz, Soha Pouya, Rico Möckel, Stéphane Bonardi

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time con- suming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimizat ...

2013

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We are motivated to build simple controllers for quadruped robots to locomote over unperceived moderately difficult rough terrain at moderately fast speeds. The presented approach here does not need force sensing at feet, and does not need information abou ...

2013

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We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correc ...

2013