Alexander Spröwitz

Post-doctoral researcher, Biorobotics Laboratory, EPFL

Short Biography

PhotoSince 2010: I am a post-doc researcher at Biorob (EPFL, Switzerland). My research focus is the development of a cat-sized, compliant, quadruped platform (Oncilla robot) for the European project AMARSi. This is collaboration work with the Reservoir Computing Laboratory (Ghent). End of 2012, six copies of Oncilla robot will be distributed among the AMARSi partners. I am continuing to develop the smaller Cheetah-cub quadruped robot, a successor of our 2008-Cheetah robot.

From 2006 to 2010 I was working as a research assistant and phd-candidate at BIRG/Biorob. My PhD-supervisor was Prof. Auke Ijspeert. My PhD topic was the development, design, and implementation of a novel self-reconfiguring modular robotic system. It is capable of reconfiguration and locomotion. Project: Roombots. I also commited research at the YaMoR project, a less complex modular robotic system.

2005: Diplom (Dipl. Ing.) in Mechatronics at the TU Ilmenau (Germany) with major in Biomechatronik under the supervision of Prof. Hartmut Witte. Thesis topic was the application of van-der-Pol oscillators on a hopping, compliant, biped, robotic system.

2003 – 2004 for 11 months: research assistant at the Neurosciene Research Institute at AIST, Tsukuba (Japan). Supervisor: Dr. Luc Berthouze

For publications, please check my Google Scholar page, or the following list:

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.

Spinal joint compliance and actuation in a simulated bounding quadruped robot

S. Pouya; M. Khodabakhsh; A. Sprowitz; A. Ijspeert 

Autonomous Robots. 2017. Vol. 41, num. 2, p. 437-452. DOI : 10.1007/s10514-015-9540-2.

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.

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

A. Spröwitz; R. Möckel; M. Vespignani; S. Bonardi; A. Ijspeert 

Robotics and Autonomous Systems. 2014. Vol. 62, num. 7, p. 1016-1033. DOI : 10.1016/j.robot.2013.08.011.

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

F. L. Moro; A. Sprowitz; A. Tuleu; M. Vespignani; N. G. Tsagarakis et al. 

Biological Cybernetics. 2013. Vol. 107, num. 3, p. 309–320. DOI : 10.1007/s00422-013-0551-9.

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.

Roombots: Reconfigurable Robots for Adaptive Furniture

A. Spröwitz; S. Pouya; S. Bonardi; J. van den Kieboom; R. Möckel et al. 

IEEE Computational Intelligence Magazine, special issue on “Evolutionary and developmental approaches to robotics”. 2010. Vol. 5, num. 3, p. 20-32. DOI : 10.1109/MCI.2010.937320.

Learning to move in modular robots using central pattern generators and online optimization

A. Sproewitz; R. Moeckel; J. Maye; A. J. Ijspeert 

The International Journal of Robotics Research. 2008. Vol. 27, num. 3-4, p. 423–443. DOI : 10.1177/0278364907088401.

Passive compliance for an (RC) servo-controlled bouncing robot

F. Meyer; A. Sproewitz; L. Berthouze 

Advanced Robotics. 2006. Vol. 20, num. 8, p. 953-961. DOI : 10.1163/156855306777951429.

Conference Papers

The Positive Side of Damping

S. Heim; M. Millard; C. Le Mouel; A. Spröwitz 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-20.

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert 

2015. ICRA 2015, Seattle, Washington, USA, May 26-30, 2015. p. 3128-3133. DOI : 10.1109/ICRA.2015.7139629.

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

S. Bonardi; M. Vespignani; R. Möckel; J. Van den Kieboom; S. Pouya et al. 

2014. Robotics: Science and Systems, Berkeley, USA, July 14-16, 2014.

Gait Optimization for Roombots Modular Robots – Matching Simulation and Reality

R. Möckel; Y. Perov; A. The Nguyen; M. Vespignani; S. Bonardi et al. 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013. p. 3265-3272. DOI : 10.1109/IROS.2013.6696820.

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.

Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot

A. Sprowitz; E. Badri; M. Khoramshahi; A. Tuleu; A. Ijspeert 

2013. Dynamic Walking, Pittsburgh, USA, June, 2013.

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

M. Khoramshahi; A. Sprowitz; A. Tuleu; M. N. Ahmadabadi; A. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 – 10, 2013. p. 3329-3334. DOI : 10.1109/ICRA.2013.6631041.

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.

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.

Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

S. Bonardi; R. Möckel; A. Spröwitz; M. Vespignani; A. Ijspeert 

2012. 7th German Conference on Robotics – Robotik 2012, Munich, Germany, May 22-25, 2012.

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.

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

A. Spröwitz; P. Laprade; S. Bonardi; M. Mayer; R. Möckel et al. 

2010. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. p. 1126-1132. DOI : 10.1109/IROS.2010.5649504.

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

S. Pouya; J. van den Kieboom; A. Spröwitz; A. Ijspeert 

2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010. p. 514-520. DOI : 10.1109/IROS.2010.5649025.

Distributed Online Learning of Central Pattern Generators in Modular Robots

D. J. Christensen; A. Spröwitz; A. Ijspeert 

2010. Simulation of Adaptive Behaviour (SAB’10), Paris, France, 24-28 August 2010. p. 402–412. DOI : 10.1007/978-3-642-15193-4_38.

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.

Graph signature for self-reconfiguration planning of modules with symmetry

M. Asadpour; M. H. Z. Ashtiani; A. Sproewitz; A. J. Ijspeert 

2009. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October 11-15, 2009. p. 5295-5300. DOI : 10.1109/IROS.2009.5353943.

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert 

2009. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009. p. 4259-4264. DOI : 10.1109/ROBOT.2009.5152613.

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

A. Sproewitz; M. Asadpour; Y. Bourquin; A. J. Ijspeert 

2008. 2008 IEEE International Conference on Robotics and Automation, Pasadena, May 19-23, 2008. p. 3508-3513. DOI : 10.1109/ROBOT.2008.4543747.

Locomotion in modular robots based on central pattern generators

A. Sproewitz; R. Moeckel; J. Maye; M. Asadpour; A. J. Ijspeert 

2008. Adaptive Motion of Animals and Machines (AMAM 2008), Cleveland, June 1-6, 2008. p. 86-87.

Graph signature for self-reconfiguration planning

M. Asadpour; A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert 

2008. International Conference on Intelligent Robots and Systems, Nice, September 22-26, 2008. p. 863-869. DOI : 10.1109/IROS.2008.4650673.

Passive compliant quadruped robot using central pattern generators for locomotion control

S. Rutishauser; A. Sproewitz; L. Righetti; A. J. Ijspeert 

2008. International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October 19-22, 2008. p. 710-715. DOI : 10.1109/BIOROB.2008.4762878.

An Easy to Use Bluetooth Scatternet Protocol for fast Data Exchange in Wireless Sensor Networks and Autonomous Robots

R. Moeckel; A. Sproewitz; J. Maye; A. J. Ijspeert 

2007. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. p. 2801-2806. DOI : 10.1109/IROS.2007.4399458.

Adaptive Locomotion Control in Modular Robotics

A. Sproewitz; R. Moeckel; J. Maye; M. Asadpour; A. J. Ijspeert 

2007. Workshop on Self-Reconfigurable Robots/Systems and Applications IROS07. p. 81-84.

Project course “Design of Mechatronic Systems”

C. Koch; A. Sproewitz; O. Radler; T. Stroehla; V. Zoeppig 

2006. IEEE International Conference on Mechatronics (ICM 2006), Budapest, Hungary, July 3-5, 2006. p. 69-72. DOI : 10.1109/ICMECH.2006.252499.

Robust robot bouncing: passive compliance and flexible phase locking

A. Sproewitz; L. Berthouze 

2005. 3rd. Int. Symp. on Adaptive Motion in Animals and Machines (AMAM 2005), Ilmenau, Germany, 2005.

Simple and low-cost compliant leg-foot system

F. Meyer; A. Spröwitz; M. Lungarella; L. Berthouze 

2004. Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, Sendai, Japan, 2004. p. 515-520. DOI : 10.1109/IROS.2004.1389404.

Theses

Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion

A. Spröwitz / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2010. 

Posters

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.

Motor Control Adaptation to Changes in Robot Body Dynamics for a Complaint Quadruped Robot

S. Pouya; P. Eckert; A. Sproewitz; R. Möckel; A. Ijspeert 

The 2nd International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013), London, UK, July 2013.

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.

Talks

Comparing the effect of different spine and leg designs for a small, bounding quadruped robot

P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert 

Dynamic walking 2014, Zürich, June 10, 2014 – June 13, 2014.