Alexander Spröwitz

Post-doctoral researcher, Biorobotics Laboratory, EPFL

Short Biography

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Since 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

A. Sprowitz; A. Tuleu; M. Ajallooeian; M. Vespignani; R. Mockel et al. : Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs; Frontiers in Robotics and AI. 2018. DOI : 10.3389/frobt.2018.00067.
S. Pouya; M. Khodabakhsh; A. Sprowitz; A. Ijspeert : Spinal joint compliance and actuation in a simulated bounding quadruped robot; Autonomous Robots. 2017. DOI : 10.1007/s10514-015-9540-2.
A. Spröwitz; M. Ajallooeian; A. Tuleu; A. Ijspeert : Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs; Frontiers in Computational Neuroscience. 2014. DOI : 10.3389/fncom.2014.00027.
A. Spröwitz; R. Möckel; M. Vespignani; S. Bonardi; A. Ijspeert : Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot; Robotics and Autonomous Systems. 2014. DOI : 10.1016/j.robot.2013.08.011.
F. L. Moro; A. Sprowitz; A. Tuleu; M. Vespignani; N. G. Tsagarakis et al. : Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot; Biological Cybernetics. 2013. DOI : 10.1007/s00422-013-0551-9.
A. Sproewitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri et al. : Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot; International Journal of Robotics Research. 2013. DOI : 10.1177/0278364913489205.
A. Spröwitz; S. Pouya; S. Bonardi; J. van den Kieboom; R. Möckel et al. : Roombots: Reconfigurable Robots for Adaptive Furniture; IEEE Computational Intelligence Magazine, special issue on "Evolutionary and developmental approaches to robotics". 2010. DOI : 10.1109/MCI.2010.937320.
A. Sproewitz; R. Moeckel; J. Maye; A. J. Ijspeert : Learning to move in modular robots using central pattern generators and online optimization; The International Journal of Robotics Research. 2008. DOI : 10.1177/0278364907088401.
F. Meyer; A. Sproewitz; L. Berthouze : Passive compliance for an (RC) servo-controlled bouncing robot; Advanced Robotics. 2006. DOI : 10.1163/156855306777951429.

Conference Papers

S. Heim; M. Millard; C. Le Mouel; A. Spröwitz : The Positive Side of Damping. 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-AMAM019-20.
P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert : Comparing the effect of different spine and leg designs for a small bounding quadruped robot. 2015. ICRA 2015, Seattle, Washington, USA, May 26-30, 2015. p. 3128-3133. DOI : 10.1109/ICRA.2015.7139629.
S. Bonardi; M. Vespignani; R. Möckel; J. Van den Kieboom; S. Pouya et al. : Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures. 2014. Robotics: Science and Systems, Berkeley, USA, July 14-16, 2014.
M. Ajallooeian; S. Gay; A. Tuleu; A. Sproewitz; A. J. Ijspeert : Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3390-3397.
R. Moeckel; Y. N. Perov; T. N. Anh; M. Vespignani; S. Bonardi et al. : Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3265-3272.
R. Möckel; Y. Perov; A. The Nguyen; M. Vespignani; S. Bonardi et al. : Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.
M. Ajallooeian; S. Gay; A. Tuleu; A. Sprowitz; A. Ijspeert : Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.
A. Sprowitz; E. Badri; M. Khoramshahi; A. Tuleu; A. Ijspeert : Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot. 2013. Dynamic Walking, Pittsburgh, USA, June, 2013.
M. Khoramshahi; A. Sprowitz; A. Tuleu; M. N. Ahmadabadi; A. Ijspeert : Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot. 2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 - 10, 2013.
M. Ajallooeian; S. Pouya; A. Sproewitz; A. Ijspeert : Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion. 2013. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
A. Spröwitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri : Robot Trotting with Segmented Legs in Simulation and Hardware.. 2012. Dynamic Walking 2012, Pensacola Beach, Florida. USA, May 21-24, 2012. p. 46-47.
S. Bonardi; R. Möckel; A. Spröwitz; M. Vespignani; A. Ijspeert : Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots. 2012. 7th German Conference on Robotics - Robotik 2012, Munich, Germany, May 22-25, 2012.
A. Spröwitz; L. Kuechler; A. Tuleu; M. Ajallooeian; M. D'Haene et al. : Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain. 2011. 5th International Symposium on Adaptive Motion of Animals and Machines, Awaji, Japan, October 11-14, 2011.
A. Spröwitz; P. Laprade; S. Bonardi; M. Mayer; R. Möckel et al. : Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules. 2010. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. p. 1126-1132.
S. Pouya; J. van den Kieboom; A. Spröwitz; A. Ijspeert : Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question. 2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010. p. 514-520.
D. J. Christensen; A. Spröwitz; A. Ijspeert : Distributed Online Learning of Central Pattern Generators in Modular Robots. 2010. Simulation of Adaptive Behaviour (SAB'10), Paris, France, 24-28 August 2010.
A. Sproewitz; M. Fremerey; K. Karakasiliotis; S. Rutishauser; L. Righetti et al. : Compliant Leg Design for a Quadruped Robot. 2009. Dynamic Walking 2009, Vancouver, Canada, June, 2009.
M. Asadpour; M. H. Z. Ashtiani; A. Sproewitz; A. J. Ijspeert : Graph signature for self-reconfiguration planning of modules with symmetry. 2009. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October 11-15, 2009. p. 5295-5300.
A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert : Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture. 2009. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009. p. 4259-4264. DOI : 10.1109/ROBOT.2009.5152613.
A. Sproewitz; M. Asadpour; Y. Bourquin; A. J. Ijspeert : An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching. 2008. 2008 IEEE International Conference on Robotics and Automation, Pasadena, May 19-23, 2008.
A. Sproewitz; R. Moeckel; J. Maye; M. Asadpour; A. J. Ijspeert : Locomotion in modular robots based on central pattern generators. 2008. Adaptive Motion of Animals and Machines (AMAM 2008), Cleveland, June 1-6, 2008. p. 86-87.
M. Asadpour; A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert : Graph signature for self-reconfiguration planning. 2008. International Conference on Intelligent Robots and Systems, Nice, September 22-26, 2008. p. 863-869. DOI : 10.1109/IROS.2008.4650673.
S. Rutishauser; A. Sproewitz; L. Righetti; A. J. Ijspeert : Passive compliant quadruped robot using central pattern generators for locomotion control. 2008. International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October 19-22, 2008.
R. Moeckel; A. Sproewitz; J. Maye; A. J. Ijspeert : An Easy to Use Bluetooth Scatternet Protocol for fast Data Exchange in Wireless Sensor Networks and Autonomous Robots. 2007. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. p. 2801-2806.
A. Sproewitz; R. Moeckel; J. Maye; M. Asadpour; A. J. Ijspeert : Adaptive Locomotion Control in Modular Robotics. 2007. Workshop on Self-Reconfigurable Robots/Systems and Applications IROS07. p. 81-84.
C. Koch; A. Sproewitz; O. Radler; T. Stroehla; V. Zoeppig : Project course "Design of Mechatronic Systems". 2006. IEEE International Conference on Mechatronics (ICM 2006), Budapest, Hungary, July 3-5, 2006.
A. Sproewitz; L. Berthouze : Robust robot bouncing: passive compliance and flexible phase locking. 2005. 3rd. Int. Symp. on Adaptive Motion in Animals and Machines (AMAM 2005), Ilmenau, Germany, 2005.
F. Meyer; A. Spröwitz; M. Lungarella; L. Berthouze : Simple and low-cost compliant leg-foot system. 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

A. Spröwitz / A. J. Ijspeert (Dir.) : Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion. Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4803.

Posters

M. Ajallooeian; A. Tuleu; A. Sprowitz; P. Eckert; M. Vespignani et al. : Rich Locomotion Skills with the Oncilla Robot ; Dynamic Walking 2014, Zurich, Switzerland, June 10-13, 2014.
S. Pouya; P. Eckert; A. Sproewitz; R. Möckel; A. Ijspeert : Motor Control Adaptation to Changes in Robot Body Dynamics for a Complaint Quadruped Robot ; The 2nd International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013), London, UK, July 2013.
M. Ajallooeian; S. Pouya; S. Gay; A. Tuleu; A. Sprowitz et al. : Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain ; Dynamic Walking 2013, Carnegie Mellon University, Pittsburgh, USA, JUNE 10-13, 2013.
M. Ajallooeian; A. Sproewitz; A. Tuleu; A. Ijspeert : Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot ; 6th International Conference on Adaptive Motion of Animals and Machines, 2013, Darmstadt, Germany, March 11-14, 2013.
A. Tuleu; M. Ajallooeian; A. Spröwitz; P. Loepelmann; A. Ijspeert : Trot Gait Locomotion of A Cat Sized Quadruped Robot ; International Workshop on Bio-inspired Robots, Nantes, France, April 6-8.

Talks

P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert : Comparing the effect of different spine and leg designs for a small, bounding quadruped robot ; Dynamic walking 2014, Zürich, June 10, 2014 – June 13, 2014.