2013

Journal Articles

Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots

M. Khoramshahi; H. J. Bidgoly; S. Shafiee; A. Asaei; A. J. Ijspeert et al. 

Robotics And Autonomous Systems. 2013. Vol. 61, num. 12, p. 1350-1359. DOI : 10.1016/j.robot.2013.08.001.

The effect of fractionality nature in differences between computer simulation and experimental results of a chaotic circuit

S. Faraji; M. S. Tavazoei 

Central European Journal Of Physics. 2013. Vol. 11, num. 6, p. 836-844. DOI : 10.2478/s11534-013-0255-8.

Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

L. Zollo; A. Salerno; M. Vespignani; D. Accoto; M. Passalacqua et al. 

International Journal Of Advanced Robotic Systems. 2013. Vol. 10. DOI : 10.5772/56928.

From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander

A. Bicanski; D. Ryczko; J-M. Cabelguen; A. J. Ijspeert 

Biological Cybernetics. 2013. Vol. 107, num. 5, p. 565-587. DOI : 10.1007/s00422-012-0538-y.

Foreword for the special issue on Lamprey and Salamander Robots and the Central Nervous System

A. J. Ijspeert; S. Grillner; P. Dario 

Biological Cybernetics. 2013. Vol. 107, num. 5, p. 495-496. DOI : 10.1007/s00422-013-0570-6.

Effects of Robotic Knee Exoskeleton on Human Energy Expenditure

A. Gams; T. Petrič; T. Debevec; J. Babič 

IEEE Transactions on Biomedical Engineering. 2013. Vol. 60, num. 6, p. 1636-1644. DOI : 10.1109/TBME.2013.2240682.

Reflexive stability control framework for humanoid robots

T. Petrič; A. Gams; J. Babič; L. Žlajpah 

Autonomous Robots. 2013. Vol. 34, num. 4, p. 347-361. DOI : 10.1007/s10514-013-9329-0.

Control approaches for robotic knee exoskeleton and their effects on human motion

T. Petrič; A. Gams; T. Debevec; L. Žlajpah; J. Babič 

Advanced Robotics. 2013. Vol. 27, num. 13, p. 993-1002. DOI : 10.1080/01691864.2013.804164.

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

M. Sitti; A. Menciassi; A. J. Ijspeert; K. H. Low; S. Kim 

Ieee-Asme Transactions On Mechatronics. 2013. Vol. 18, num. 2, p. 409-418. DOI : 10.1109/Tmech.2012.2233492.

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

M. Ajallooeian; J. van den Kieboom; A. Mukovskiy; M. Giese; A. Ijspeert 

Physica D: Nonlinear Phenomena. 2013. Vol. 263, p. 41-56. DOI : 10.1016/j.physd.2013.07.016.

A Salamander’s Flexible Spinal Network for Locomotion, Modeled at Two Levels of Abstraction

J. Knüsel; A. Bicanski; D. Ryczko; J-M. Cabelguen; A. Ijspeert 

Integrative and Comparative Biology. 2013. Vol. 53, num. 2, p. 269-282. DOI : 10.1093/icb/ict067.

Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

R. Ronsse; D. Rossi; S. M. Maria; N. Vitiello; T. Lenzi et al. 

IEEE Transactions on Robotics. 2013. Vol. 29, num. 3, p. 783-791. DOI : 10.1109/TRO.2013.2240173.

Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

D. P. Mersch; A. Crespi; L. Keller 

Science. 2013. Vol. 340, num. 6136, p. 1090-1093. DOI : 10.1126/science.1234316.

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.

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.

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

A. J. Ijspeert; J. Nakanishi; H. Hoffmann; P. Pastor; S. Schaal 

Neural Computation. 2013. Vol. 25, num. 2, p. 328-373. DOI : 10.1162/NECO_a_00393.

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

Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

N. Thatte; M. Khoramshahi; A. Ijspeert; M. Sitti 

2013. Dynamic Walking 2013, Pittsburgh, Pennsylvania, USA, June 10-13, 2013.

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

M. Vespignani; E. Senft; S. Bonardi; R. Moeckel; A. J. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 4308-4313.

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

M. Ajallooeian; S. Gay; A. Tuleu; A. Sproewitz; A. J. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3390-3397.

Gait Optimization for Roombots Modular Robots – Matching Simulation and Reality

R. Moeckel; Y. N. Perov; T. N. Anh; M. Vespignani; S. Bonardi et al. 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3265-3272.

Collaborative Manipulation and Transport of Passive Pieces using the Self-Reconfigurable Modular Robots Roombots

S. Bonardi; M. Vespignani; R. Moeckel; A. J. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 2406-2412.

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

S. Gay; J. Santos-Victor; A. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 194-201.

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

J. van den Kieboom; A. J. Ijspeert 

2013. IEEE Conference on Humanoids Robots, Atlanta USA, October 15-17, 2013.

Meta Morphic Particle Swarm Optimization

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

2013. VI International Workshop on Nature Inspired Cooperative Strategies for Optimization, Canterbury, UK, September 2-4, 2013. p. 231-244.

Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks

A. Gams; B. Nemec; L. Zlajpah; M. Wachter; A. Ijspeert et al. 

2013. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-7, 2013. p. 5629-5635. DOI : 10.1109/IROS.2013.6697172.

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

S. Gay; J. van den Kieboom; J. Santos-Victor; A. Ijspeert 

2013. IEEE Conference on Humanoids Robots, Atlanta, USA, October 15-17, 2013.

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Y. Morel; A. J. Ijspeert; A. Leonessa 

2013. [5th Annual Dynamic Systems and Control Division Conference / 11th JSME Motion and Vibration Conference. p. 179-186.

Stable real-time full body motion imitation on the COMAN humanoid robot.

A. Gams; J. van den Kieboom; F. Dzeladini; A. Ijspeert 

2013. 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2013, Portorož, Slovenia, September 11 – 13, 2013.

Motion capture and reinforcement learning of dynamically stable humanoid movement primitives

R. Vuga; M. Ogrinc; A. Gams; T. Petric; N. Sugimoto et al. 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 6-10 05 2013. p. 5284-5290. DOI : 10.1109/ICRA.2013.6631333.

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.

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

M. Vespignani; E. Senft; S. Bonardi; R. Möckel; A. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-8, 2013.

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

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

2013. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, November 3-7, 2013.

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

S. Gay; J. Santos-Victor; A. Ijspeert 

2013. EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.

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.

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.

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.

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.

Compliant and adaptive control of a planar monopod hopper in rough terrain

S. Faraji; S. Pouya; R. Moeckel; A. J. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 6-10 05 2013. p. 4818-4825. DOI : 10.1109/ICRA.2013.6631264.

Reviews

Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics

A. Bicanski; D. Ryczko; J. Knuesel; N. Harischandra; V. Charrier et al. 

Biological Cybernetics. 2013. Vol. 107, num. 5, p. 545-564. DOI : 10.1007/s00422-012-0543-1.

Theses

Modeling spinal central pattern generators in the salamander at different levels of abstraction

A. Bičanski / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013. 

Modeling a diversity of salamander motor behaviors with coupled abstract oscillators and a robot

J. Knüsel / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013. 

Legged locomotion with spinal undulations

K. Karakasiliotis / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013. 

Posters

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.

Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

S. Pouya; S. Faraji; R. Möckel; A. Ijspeert 

8th Dynamic Walking Conference (DWC 2013), Pittsburgh, USA, June 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.

Student Projects

A Model-Based Control Approach for Locomotion of Biped Robots

S. Faraji 

2013.

Implementation of a Human Feedback-based Locomotion and its Control by means of a Feedforward Component inspired by Central Pattern Generators

F. Dzeladini 

2013.