Publications de Robin Thandiackal

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Auke Ijspeert, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Robin Thandiackal, Kyoichi Akiyama

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

AMER ASSOC ADVANCEMENT SCIENCE2021

Undulatory swimming control with local exteroceptive sensory feedback

Auke Ijspeert, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Robin Thandiackal

OXFORD UNIV PRESS INC2019

Adaptive Compliant Foot Design for Salamander Robots

Auke Ijspeert, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Robin Thandiackal

Aquatic stepping gaits in animals arguably display higher speed performance as well as energetic efficiency compared to other gaits using the limbs (i.e walking). This suggest that the foot structure and function contributes at a great extent on the propul ...

IEEE2019

Investigating Sensorimotor Control in Locomotion using Robots and Mathematical Models

Robin Thandiackal

Locomotion is a very diverse phenomenon that results from the interactions of a body and its environment and enables a body to move from one position to another. Underlying control principles rely among others on the generation of intrinsic body movements, ...

EPFL2017

Probabilistic Modeling of Programmable Stochastic Self-Assembly of Robotic Modules

Alcherio Martinoli, Robin Thandiackal, Bahar Haghighat, Maximilian Oliver Mogli Mordig

2017

Climbing favours the tripod gait over alternative faster insect gaits

Dario Floreano, Auke Ijspeert, Thibault Lucien Christian Asselborn, Pavan P Ramdya, Robin Thandiackal

To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this differ ...

Nature Research2017

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

Exploiting passive dynamics for robot throwing task

Robin Thandiackal, Amir Jafari

Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passi ...

IEEE2012