Tomislav Horvat

Short Bio

Tomislav Horvat got his MSc in Electrical Engineering and Information Technology from University of Zagreb, Faculty of Electrical Engineering and Computing (FER). During his studies he focused on topics in Control, Robotics, Embedded Systems and Machine Learning.

In 2012 he did an internship at CERN (Geneva), where he worked on testing the stability of the low level radiofrequency feedback loop of the LHC.

He joined the Biorobotics Laboratory at EPFL in September 2013 and is working on sprawling posture quadruped robots with an actuated spine. As a part of NCCR Rescue Robotics Grand Challenge, his main research is to explore the application and control of a highly redundant robots with multimodal locomotion capabilities (walking, swimming, crawling).


Journal Articles

Animal robots in the African wilderness: Lessons learned and outlook for field robotics

K. Melo; T. Horvat; A. J. Ijspeert 

Science Robotics


Vol. 8 , num. 85, p. eadd8662.

DOI : 10.1126/scirobotics.add8662

Towards rich motion skills with the lightweight quadruped robot Serval

P. Eckert; A. E. M. Schmerbauch; T. Horvat; K. Soehnel; M. S. Fischer et al. 

Adaptive Behavior


Vol. 28 , num. 3, p. 129-150.

DOI : 10.1177/1059712319853227

publication thumbnail

The current state and future outlook of rescue robotics

J. Delmerico; S. Mintchev; A. Giusti; B. Gromov; K. Melo et al. 

Journal of Field Robotics


Vol. 36 , num. 7, p. 1171-1191.

DOI : 10.1002/rob.21887

Reverse-engineering the locomotion of a stem amniote

J. A. Nyakatura; K. Melo; T. Horvat; K. Karakasiliotis; V. R. Allen et al. 



Vol. 565 , num. 7739, p. 351-355.

DOI : 10.1038/s41586-018-0851-2

Conference Papers

Minimalist Design of a 3-Axis Passive Compliant Foot for Sprawling Posture Robots

K. Melo; T. Horvat; A. J. Ijspeert 

2019 2nd IEEE International Conference on Soft Robotics (Robosoft 2019)


2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, South Korea, April 14-18, 2019.

p. 788-794

DOI : 10.1109/ROBOSOFT.2019.8722792

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval – A Design, Control and Experimental Study

P. Eckert; A. E. Schmerbauch; T. Horvat; K. Söhnel; M. S. Fischer et al. 

From Animals to Animats 15


15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Frankfurt/Main, Germany, August 14-17, 2018.

p. 41-55

DOI : 10.1007/978-3-319-97628-0_4

Challenges in visual and inertial information gathering for a sprawling posture robot

M. Parsapour; K. Melo; T. Horvat; A. J. Ijspeert 

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)


p. 2691-2697

DOI : 10.1109/IROS.2017.8206094

Model predictive control based framework for CoM control of a quadruped robot

T. Horvat; K. Melo; A. Ijspeert 


DOI : 10.1109/IROS.2017.8206176

Active stabilization of a stiff quadruped robot using local feedback

R. Vasconcelos; S. Hauser; F. Dzeladini; M. Mutlu; T. Horvat et al. 

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)


IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 24-28, 2017.

p. 4903-4910

DOI : 10.1109/IROS.2017.8206369


Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

T. Horvat / Director(s) : A. Ijspeert 

Lausanne: EPFL


p. 215.

DOI : 10.5075/epfl-thesis-8788