Konstantinos Karakasiliotis

Postdoctoral researcher, Biorobotics Laboratory, EPFL

Short bio

Konstantinos Karakasiliotis received his diploma in Electronics and Computer Engineering at the Technical University of Crete (T.U.C.). He worked for 12 months as a Research Associate in the Computational Vision and Robotics Laboratory (CVRL) at the Foundation for Research and Technology – Hellas (FO.R.T.H.) where he developed a biomimetic robotic undulatory prototype that imitates the locomotion and morphology of the Nereis Polychaete worms. The biggest part of the above work was the topic of his diploma thesis. He worked for 8 months as a Research Associate in the Intelligent Systems Laboratory in T.U.C. where he initiated with Prof. Michail G. Lagoudakis the Larvabot project. The goal of this project is to develop biomimetic robotic prototypes that combine the undulatory and climbing gaits in one system, imitating the morphology of the Chlorochlamys Chloroleucaria larva. In April 2008 he joined BIRG (now BIOROB) as a Research Assistant and a PhD candidate where he worked on the hardware of the LAMPETRA project. In January 2013 he received his PhD diploma from EPFL and since then continues as a postoctoral researcher at BIOROB working on the hardware design and control of highly redundant salamander-like robots.


Journal Articles


Reverse-engineering the locomotion of a stem amniote

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

Nature. 2019-01-16. Vol. 565, num. 7739, p. 351-355. DOI : 10.1038/s41586-018-0851-2.


From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion

K. Karakasiliotis; R. Thandiackal; K. Melo; T. Horvat; N. K. Mahabadi et al. 

Journal of The Royal Society Interface. 2016. Vol. 13, num. 119. DOI : 10.1098/rsif.2015.1089.


Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

K. Karakasiliotis; N. Schilling; J-M. Cabelguen; A. Ijspeert 

Biological Cybernetics. 2013. Vol. 107, p. 529–544. DOI : 10.1007/s00422-012-0540-4.

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

A. Crespi; K. Karakasiliotis; A. Guignard; A. J. Ijspeert 

IEEE Transactions on Robotics. 2013. Vol. 29, num. 2, p. 308-320. DOI : 10.1109/TRO.2012.2234311.

Conference Papers


Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

T. Horvat; K. Karakasiliotis; K. Melo; L. Fleury; R. Thandiackal et al. 

2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September – 2 October 2015. p. 195-201. DOI : 10.1109/IROS.2015.7353374.


Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

J. Knuesel; K. Karakasiliotis; A. Crespi; D. Ryczko; J-M. Cabelguen et al. 

2013. Annual Meeting of the Society for Integrative and Comparative Biology (SICB). p. E113.


Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

K. Karakasiliotis; K. D’Aout; P. Aerts; A. J. Ijspeert 

2012. 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics. p. 943-948. DOI : 10.1109/BioRob.2012.6290836.


Compliant Leg Design for a Quadruped Robot

A. Sproewitz; M. Fremerey; K. Karakasiliotis; S. Rutishauser; L. Righetti et al. 

2009. Dynamic Walking 2009, Vancouver, Canada, June, 2009.

Analysis of the terrestrial locomotion of a salamander robot

K. Karakasiliotis; A. J. Ijspeert 

2009. IROS 2009, St. Louis, USA, October, 2009. p. 5015-5020. DOI : 10.1109/IROS.2009.5354220.


Polychaete-like pedundulatory robotic locomotion

M. Sfakiotakis; D. P. Tsakiris; K. Karakasiliotis 

2007. IEEE International Conference on Robotics and Automation. p. 269-274. DOI : 10.1109/ROBOT.2007.363798.

Chlorochlamys loop-like locomotion: Combining crawling and climbing robotics

K. Karakasiliotis; L. Kagkarakis; M. G. Lagoudakis 

2007. 2007 IEEE International Conference on Robotics and biomimetics (ROBIO), Sanya, China, 15-18 December 2007. p. 978-983. DOI : 10.1109/ROBIO.2007.4522296.



Legged locomotion with spinal undulations

K. Karakasiliotis / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013.