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

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

Spine Controller for a Sprawling Posture Robot

T. Horvat; K. Melo; A. J. Ijspeert 

Ieee Robotics And Automation Letters


Vol. 2 , num. 2, p. 1195-1202.

DOI : 10.1109/Lra.2017.2664898

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


Vol. 13 , num. 119.

DOI : 10.1098/rsif.2015.1089

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.

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

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

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


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