Publications de Massimo Vespignani

Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs

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

2018

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Peter Eckert, Steve Walter Shue Heim

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

Emerald Group Publishing Ltd2016

Natural user interface for lighting control: Case study on desktop lighting using modular robots

Auke Ijspeert, Mehmet Hasan Mutlu, Massimo Vespignani, Simon Lukas Hauser, Stéphane Bonardi, Alexandre Bernardino

Roombots (RB) are self-reconfigurable modular robots designed to explore physical structure change by robotic reconfiguration and adaptive locomotion on structured grid environment or unstructured environment. The primary goal of RB is to create adaptive f ...

Ieee2016

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Peter Eckert, Steve Walter Shue Heim

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

World Scientific Publ Co Pte Ltd2016

Where to place cameras on a snake robot: Focus on camera trajectory and motion blur

Auke Ijspeert, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Massimo Vespignani, Alexandre Bernardino

Visual information is heavily used in robotics, in particular for SLAM applications. Visual SLAM algorithms depend on robust feature extraction and reliable state estimation. Quality of the visual information highly depends on how that information is captu ...

IEEE2015

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Massimo Vespignani, Stéphane Bonardi

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

2015

Challenges in the Locomotion of Self-Reconfigurable Modular Robots

Massimo Vespignani

Self-Reconfigurable Modular Robots (SRMRs) are assemblies of autonomous robotic units, referred to as modules, joined together using active connection mechanisms. By changing the connectivity of these modules, SRMRs are able to deliberately change their ow ...

EPFL2015

Compliant snake robot locomotion on horizontal pipes

Auke Ijspeert, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Massimo Vespignani

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

2015

Simplifying Control through Active Tail Use

Auke Ijspeert, Massimo Vespignani, Mostafa Ajallooeian, Peter Eckert, Steve Walter Shue Heim

Oxford Univ Press Inc2015

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Auke Ijspeert, Massimo Vespignani, Jesse van den Kieboom, Luc Guyot

Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based ...

IEEE2014