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.

 

Publications

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.
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.
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.

Conference Papers

S. Hauser; P. Eckert; A. Tuleu; A. Ijspeert : Friction and damping of a compliant foot based on granular jamming for legged robots. 2016. 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), SINGAPORE, JUN 26-29, 2016. p. 1160-1165.
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.
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.
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.
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.

Theses

A. Tuleu / A. Ijspeert; A. Bernardino (Dir.) : Hardware, software and control design considerations towards low-cost compliant quadruped robots. Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7458.

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.
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.