Publication
Rapid Evolution of Robot Gaits
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Nowadays, computational thinking (CT) is considered a skill to be taught. While educational robotics (ER) appears promising to foster students' CT, operational CT frameworks and explicit guidance in ER are lacking. This thesis thus proposes to understand h ...
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A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...
2020Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion
Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...
IOP PUBLISHING LTD2019From High-Level to Low-Level Robot Learning of Complex Tasks: Leveraging Priors, Metrics and Dynamical Systems
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Humans have a remarkable way of learning, adapting and mastering new manipulation
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robots with such capabilities seems to be on the cusp of reality. Transferring human-level
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EPFL2019Learning agile and dynamic motor skills for legged robots
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanshi ...
2019Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine
Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...
EPFL2018Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots
Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified
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EPFL2018An Overview on Principles for Energy Efficient Robot Locomotion
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...
FRONTIERS MEDIA SA2018Challenges in visual and inertial information gathering for a sprawling posture robot
Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Mahsa Parsapour
We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...
2017Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots
Nicolas Benoît Dominique Van der Noot
Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...
EPFL2017