Mostafa Ajallooeian

Short Biography

Mostafa Ajallooeian (mȯstafä ajal-lü-iän, مصطفی اجل لوییان) got his B.Sc. in Computer Engineering from Kashan University, with the final project ‘Desing and Implemetation of a Recognition Engine for Farsi OCR’. He got his M.Sc. in Machine Intelligence and Robotics from University of Tehran (2009). His Masters project was ‘Design of a learner system based on attractors and babbling for imitation’, accomplished in Robolab, UT.

Mostafa joined BIOROB-EPFL for his Ph.D. in July 2010 and is currently working on AMARSi project. The goal of his PhD thesis is to participate to the design of movement controllers for rich motor skills based on systems of coupled nonlinear dynamical systems (e.g. oscillators), incorporate sensory feedback into them, and apply them to compliant quadruped and humanoid robots.

His recent reaseach focuses on the implementation of adaptive locomotion control for trotting over rough terrain. The proposed locomotion control architecture is modular, and consists of:

– Morphed oscillators: Oscillators capable of encoding arbitrary trajectories as globally assymptotically stable limit cycles. Used for encodng nominal locomotion profiles.

– Adaptive modules for virtual force/velocity control: Similar to the idea of virtual model control, but integrated into oscillator dynamics. Used for implementing posture control.

– Simple reflexes for fast adaptations: This implements the adaptive behaviors like stumbling correction, compensate for a missing contact, and lateral push recovery.


Journal Articles

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

A. Sprowitz; A. Tuleu; M. Ajallooeian; M. Vespignani; R. Mockel et al. 

Frontiers in Robotics and AI. 2018. Vol. 5, p. 67. DOI : 10.3389/frobt.2018.00067.

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

S. Heim; M. Ajalloeian; P. Eckert; M. Vespignani; A. Ijspeert 

Industrial Robot: An International Journal. 2016. Vol. 43, num. 3, p. 338-346. DOI : 10.1108/IR-10-2015-0190.

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

A. Spröwitz; M. Ajallooeian; A. Tuleu; A. Ijspeert 

Frontiers in Computational Neuroscience. 2014. Vol. 8, num. 27, p. 1-13. DOI : 10.3389/fncom.2014.00027.

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

M. Ajallooeian; J. van den Kieboom; A. Mukovskiy; M. Giese; A. Ijspeert 

Physica D: Nonlinear Phenomena. 2013. Vol. 263, p. 41-56. DOI : 10.1016/j.physd.2013.07.016.

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

A. Sproewitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri et al. 

International Journal of Robotics Research. 2013. Vol. 32, num. 8, p. 932-950. DOI : 10.1177/0278364913489205.

Design, implementation and analysis of an alternation-based Central Pattern Generator for multidimensional trajectory generation

M. Ajallooeian; M. N. Ahmadabadi; B. N. Araabi; H. Moradi 

Robotics and Autonomous Systems. 2012. Vol. 60, num. 2, p. 182-198. DOI : 10.1016/j.robot.2011.10.002.

Hybrid Evolutionary-Neural Network Approach in Generation of Artificial Accelerograms Using Principal Component Analysis and Wavelet-Packet Transform

G. G. Amiri; A. Shahjouei; S. Saadat; M. Ajallooeian 

Journal Of Earthquake Engineering. 2011. Vol. 15, p. 50-76. DOI : 10.1080/13632469.2010.517281.

Conference Papers

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

S. W. Heim; M. Ajallooeian; P. Eckert; M. Vespignani; A. Ijspeert 

2016. 18th Climbing and Walking Robots Conference (CLAWAR), Hangzhou, PEOPLES R CHINA, SEP 06-09, 2015. p. 256-264. DOI : 10.1142/9789814725248_0033.

Simplifying Control through Active Tail Use

S. W. Heim; M. Ajallooeian; M. Vespignani; P. Eckert; A. Ijspeert 

2015. Annual Meeting of the Society-for-Integrative-and-Comparative-Biology (SICB). p. E272-E272.

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

M. Ajallooeian; S. Gay; A. Tuleu; A. Sprowitz; A. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013. p. 3390-3397. DOI : 10.1109/IROS.2013.6696839.

Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion

M. Ajallooeian; S. Pouya; A. Sproewitz; A. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013. p. 3321-3328. DOI : 10.1109/ICRA.2013.6631040.

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

S. Pouya; M. Ajallooeian; A. Ijspeert 

2012. 15th International Conference on Climbing and walking Robots (CLAWAR), Maryland, USA, July 23-26, 2012.

Robot Trotting with Segmented Legs in Simulation and Hardware.

A. Spröwitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri 

2012. Dynamic Walking 2012, Pensacola Beach, Florida. USA, May 21-24, 2012. p. 46-47.

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

A. Spröwitz; L. Kuechler; A. Tuleu; M. Ajallooeian; M. D’Haene et al. 

2011. 5th International Symposium on Adaptive Motion of Animals and Machines, Awaji, Japan, October 11-14, 2011.

Conceptual Imitation Learning: Application to Human-Robot Interaction

H. Hajimirsadeghi; M. Nili Ahmadabadi; M. Ajallooeian; B. Nadjar Araabi; H. Moradi 

2010. 2nd Asian Conference on Machine Learning (ACML2010), Tokyo, Japan, November 8-10, 2010. p. 331-346.

Fast Hand Gesture Recognition based on Saliency Maps: An Application to Interactive Robotic Marionette Playing

M. Ajallooeian; A. Borji; B. N. Araabi; M. N. Ahmadabadi; H. Moradi 

2009. 18th IEEE International Symposium on Robot and Human Interactive Communication, Toyama, JAPAN, Sep 27-Oct 02, 2009. p. 681-687. DOI : 10.1109/ROMAN.2009.5326240.

An Imitation Model based on Central Pattern Generator with application in Robotic Marionette Behavior Learning

M. Ajallooeian; M. N. Ahmadabadi; B. N. Araabi; H. Moradi 

2009. IEEE RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, Oct 10-15, 2009. p. 4199-4205. DOI : 10.1109/IROS.2009.5353940.

A dynamic fuzzy-based crossover method for genetic algorithms

S. A. Amraii; M. Ajallooeian; C. Lucas 

2007. 19th IEEE International Conference on Tools with Artificial Intelligence, Patras, GREECE, Oct 29-31, 2007. p. 465-471. DOI : 10.1109/ICTAI.2007.134.


Pattern Generation for Rough Terrain Locomotion with Quadrupedal Robots

M. Ajallooeian / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2015. 


Rich Locomotion Skills with the Oncilla Robot

M. Ajallooeian; A. Tuleu; A. Sprowitz; P. Eckert; M. Vespignani et al. 

Dynamic Walking 2014, Zurich, Switzerland, June 10-13, 2014.

Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain

M. Ajallooeian; S. Pouya; S. Gay; A. Tuleu; A. Sprowitz et al. 

Dynamic Walking 2013, Carnegie Mellon University, Pittsburgh, USA, JUNE 10-13, 2013.

Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

M. Ajallooeian; A. Sproewitz; A. Tuleu; A. Ijspeert 

6th International Conference on Adaptive Motion of Animals and Machines, 2013, Darmstadt, Germany, March 11-14, 2013.

Trot Gait Locomotion of A Cat Sized Quadruped Robot

A. Tuleu; M. Ajallooeian; A. Spröwitz; P. Loepelmann; A. Ijspeert 

International Workshop on Bio-inspired Robots, Nantes, France, April 6-8.