Publications de Konstantinos Karakasiliotis

Reverse-engineering the locomotion of a stem amniote

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Konstantinos Karakasiliotis

Reconstructing the locomotion of extinct vertebrates offers insights into their palaeobiology and helps to conceptualize major transitions in vertebrate evolution. However, estimating the locomotor behaviour of a fossil species remains a challenge because ...

2019

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Robin Thandiackal, Konstantinos Karakasiliotis, Laura Deanne Fleury

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

Auke Ijspeert, Konstantinos Karakasiliotis

Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic s ...

Springer Verlag2013

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

Legged locomotion with spinal undulations

Konstantinos Karakasiliotis

Legged locomotion with spinal undulations is a topic that has not received much attention yet in robotics, though, vertebrates depend on both their limbs and spine to move efficiently in their environments. In this thesis, my aim is to get more insights in ...

EPFL2013

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

Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

Auke Ijspeert, Konstantinos Karakasiliotis

Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tail ...

Ieee2012

Compliant Leg Design for a Quadruped Robot

Auke Ijspeert, Ludovic Righetti, Alexander Spröwitz, Simon Rutishauser, Konstantinos Karakasiliotis

2009

Analysis of the terrestrial locomotion of a salamander robot

Auke Ijspeert, Konstantinos Karakasiliotis

2009