Alexandre Tuleu

Short Biography

Alexandre Tuleu got its MSc in Micro-engineering from EPFL (2010). He accomplished his Master project at BioRob on the simulation and the control of the Cheetah robot. He then worked as a Research Assistant for the AMARSi project. He mainly contributed with the development of a Quadruped simulator, the conception of a locomotion benchmarking tool, and the development of low level embedded software for both the Cheetah and Oncilla Platform.

Starting  from september 2011, he started its PhD thesis on model-based control in legged locomotion.


Journal Articles

Precise tactile stimulation of worker ants by a robotic manipulator reveals that individual responses are density‐ and context‐dependent

M. Rüegg; A. Motes‐Rodrigo; A. Tuleu; N. Stroeymeyt; T. O. Richardson et al. 

Methods in Ecology and Evolution. 2024-01-09. Vol. 15, p. 117-129. DOI : 10.1111/2041-210X.14244.

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.

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.

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.

Conference Papers

Friction and damping of a compliant foot based on granular jamming for legged robots

S. Hauser; P. Eckert; A. Tuleu; A. Ijspeert 

2016. 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), SINGAPORE, JUN 26-29, 2016. p. 1160-1165. DOI : 10.1109/BIOROB.2016.7523788.

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.

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.


Hardware, software and control design considerations towards low-cost compliant quadruped robots

A. Tuleu / A. Ijspeert; A. Bernardino (Dir.)  

Lausanne, EPFL, 2016. 


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.