Publications de Soha Pouya | EPFL Graph Search

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

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Auke Ijspeert, Massimo Vespignani, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Rico Möckel, Stéphane Bonardi

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

Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

Auke Ijspeert, Salman Faraji, Soha Pouya

IEEE2014

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Meta Morphic Particle Swarm Optimization

Auke Ijspeert, Soha Pouya, Jesse van den Kieboom

Particle Swarm Optimization is a simple and elegant optimization algorithm used to solve a large variety of different real-valued problems. When it comes to solving combinations of continuous and discrete problems however, PSO by itself is not very well su ...

Springer2013

A Control and Optimization Framework for Robot Locomotion : from Model-free to Model-based Approaches

Soha Pouya

Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...

EPFL2013

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

Compliant and adaptive control of a planar monopod hopper in rough terrain

Auke Ijspeert, Salman Faraji, Soha Pouya, Rico Möckel

IEEE2013

Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mostafa Ajallooeian

2013

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

Auke Ijspeert, Soha Pouya, Mostafa Ajallooeian

In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...

2012