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Massimo Vespignani

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Publications associées (21)

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

Natural User Interface for Roombots

Auke Ijspeert, Massimo Vespignani, Rico Möckel, Ayberk Özgür, Stéphane Bonardi

Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes ...

IEEE2014

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

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

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

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

Auke Ijspeert, Emmanuel Senft, Massimo Vespignani, Rico Möckel, Stéphane Bonardi

This paper presents the results of a study on the exploitation of compliance in structures made of self-reconfigurable modular robots - Roombots. This research was driven by the following three hypotheses: (1) compliance can improve locomotion performance; ...

Ieee2013

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

Auke Ijspeert, Massimo Vespignani, Rico Möckel, Stéphane Bonardi

Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...

2013

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Auke Ijspeert, Massimo Vespignani, Alexander Spröwitz, Alexandre Tuleu

This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint ...

Springer Verlag2013

Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

Massimo Vespignani

This paper presents dynamic characterization and control of an upper-limb rehabilitation machine aimed at improving robot performance in the interaction with the patient. An integrated approach between mechanics and control is the key issue of the paper fo ...

Intech -Open Access Publisher2013

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

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

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

2013

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

A mechatronic platform for behavioral analysis on nonhuman primates

Massimo Vespignani

In this work we present a new mechatronic platform for measuring behavior of nonhuman primates, allowing high reprogrammability and providing several possibilities of interactions. The platform is the result of a multidisciplinary design process, which has ...

2012

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Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

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

Elsevier2014

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

Auke Ijspeert, Emmanuel Senft, Massimo Vespignani, Rico Möckel, Stéphane Bonardi

Ieee2013

Natural User Interface for Roombots

Auke Ijspeert, Massimo Vespignani, Rico Möckel, Ayberk Özgür, Stéphane Bonardi

IEEE2014

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Auke Ijspeert, Massimo Vespignani, Alexander Spröwitz, Alexandre Tuleu

Springer Verlag2013