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. 2019-08-07.

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.

Nature. 2019-01-16.

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. 2017.

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. 2016.

DOI : 10.1098/rsif.2015.1089.

Conference Papers


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.

2018-07-28. 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.

2017-09-24. 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. 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.


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.



Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

T. Horvat

Lausanne, EPFL, 2018.

DOI : 10.5075/epfl-thesis-8788.