Publication

A multi-modal hovering and terrestrial robot with adaptive morphology

Publications associées (117)

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

An important topic in designing neuroprosthetic devices for animals or patients with spinal cord injury is to find the right brain regions with which to interface the device. In vertebrates, an interesting target could be the reticulospinal (RS) neurons, w ...

IEEE2016

Adaptive Morphology for Multi-Modal Locomotion

Ludovic Daler

There is a growing interest in using robots in dangerous environments, such as for exploration, search-and-rescue or monitoring applications, in order to reduce the risks for workers or rescuers and to improve their efficiency. Typically, flying robots off ...

EPFL2015

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 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

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

A bioinspired multi-modal flying and walking robot

Dario Floreano, Stefano Mintchev, Ludovic Daler

With the aim to extend the versatility and adaptability of robots in complex environments, a novel multi-modal flying and walking robot is presented. The robot consists of a flying wing with adaptive morphology that can perform both long distance flight an ...

Iop Publishing Ltd2015

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

Morphological Evolution of Physical Robots through Model-Free Phenotype Development

Simon Lukas Hauser

Artificial evolution of physical systems is a stochastic optimization method in which physical machines are iteratively adapted to a target function. The key for a meaningful design optimization is the capability to build variations of physical machines th ...

2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Auke Ijspeert, Peter Eckert, Karl Weinmeister

In Cheetah-cub-S we realized an efficiant concept by implementing a spine-like structure with one DoF into a quadruped, modular and mobile platform. We increased maneuverability dramatically compared to a robot with rigid spine, while keeping controlling e ...

2015

Pattern Generation for Rough Terrain Locomotion with Quadrupedal Robots

Mostafa Ajallooeian

Animals are able to locomote on rough terrain without any apparent difficulty, but this does not mean that the locomotor system is simple. The locomotor system is actually a complex multi-input multi-output closed-loop control system. This thesis is dedica ...

EPFL2015

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