Post-doctoral researcher, Biorobotics Laboratory, EPFL
Short Biography
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
Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs
A. Spröwitz; M. Ajallooeian; A. Tuleu; A. Ijspeert
Frontiers in Computational Neuroscience. 2014. Vol. 8, num. 27, p. 1-13. DOI : 10.3389/fncom.2014.00027. Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot
A. Spröwitz; R. Möckel; M. Vespignani; S. Bonardi; A. Ijspeert
Robotics and Autonomous Systems. 2014. Vol. 62, num. 7, p. 1016-1033. DOI : 10.1016/j.robot.2013.08.011. 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. 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. Learning to move in modular robots using central pattern generators and online optimization
A. Sproewitz; R. Moeckel; J. Maye; A. J. Ijspeert
The International Journal of Robotics Research. 2008. Vol. 27, num. 3-4, p. 423–443. DOI : 10.1177/0278364907088401. Passive compliance for an (RC) servo-controlled bouncing robot
F. Meyer; A. Sproewitz; L. Berthouze
Advanced Robotics. 2006. Vol. 20, num. 8, p. 953-961. DOI : 10.1163/156855306777951429. Conference Papers
The Positive Side of Damping
S. Heim; M. Millard; C. Le Mouel; A. Spröwitz
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-AMAM2019-20. Comparing the effect of different spine and leg designs for a small bounding quadruped robot
P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert
2015. ICRA 2015, Seattle, Washington, USA, May 26-30, 2015. p. 3128-3133. DOI : 10.1109/ICRA.2015.7139629. 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. p. 3265-3272. DOI : 10.1109/IROS.2013.6696820. 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. p. 3390-3397. DOI : 10.1109/IROS.2013.6696839. 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. p. 3329-3334. DOI : 10.1109/ICRA.2013.6631041. 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. p. 3321-3328. DOI : 10.1109/ICRA.2013.6631040. Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain
A. Spröwitz; L. Kuechler; A. Tuleu; M. Ajallooeian; M. D’Haene et al.
2011. 5th International Symposium on Adaptive Motion of Animals and Machines, Awaji, Japan, October 11-14, 2011. Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules
A. Spröwitz; P. Laprade; S. Bonardi; M. Mayer; R. Möckel et al.
2010. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. p. 1126-1132. DOI : 10.1109/IROS.2010.5649504. Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question
S. Pouya; J. van den Kieboom; A. Spröwitz; A. Ijspeert
2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010. p. 514-520. DOI : 10.1109/IROS.2010.5649025. Distributed Online Learning of Central Pattern Generators in Modular Robots
D. J. Christensen; A. Spröwitz; A. Ijspeert
2010. Simulation of Adaptive Behaviour (SAB’10), Paris, France, 24-28 August 2010. p. 402–412. DOI : 10.1007/978-3-642-15193-4_38. Graph signature for self-reconfiguration planning of modules with symmetry
M. Asadpour; M. H. Z. Ashtiani; A. Sproewitz; A. J. Ijspeert
2009. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October 11-15, 2009. p. 5295-5300. DOI : 10.1109/IROS.2009.5353943. Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture
A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert
2009. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009. p. 4259-4264. DOI : 10.1109/ROBOT.2009.5152613. An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching
A. Sproewitz; M. Asadpour; Y. Bourquin; A. J. Ijspeert
2008. 2008 IEEE International Conference on Robotics and Automation, Pasadena, May 19-23, 2008. p. 3508-3513. DOI : 10.1109/ROBOT.2008.4543747. Passive compliant quadruped robot using central pattern generators for locomotion control
S. Rutishauser; A. Sproewitz; L. Righetti; A. J. Ijspeert
2008. International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October 19-22, 2008. p. 710-715. DOI : 10.1109/BIOROB.2008.4762878. An Easy to Use Bluetooth Scatternet Protocol for fast Data Exchange in Wireless Sensor Networks and Autonomous Robots
R. Moeckel; A. Sproewitz; J. Maye; A. J. Ijspeert
2007. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. p. 2801-2806. DOI : 10.1109/IROS.2007.4399458. Project course “Design of Mechatronic Systems”
C. Koch; A. Sproewitz; O. Radler; T. Stroehla; V. Zoeppig
2006. IEEE International Conference on Mechatronics (ICM 2006), Budapest, Hungary, July 3-5, 2006. p. 69-72. DOI : 10.1109/ICMECH.2006.252499. Robust robot bouncing: passive compliance and flexible phase locking
A. Sproewitz; L. Berthouze
2005. 3rd. Int. Symp. on Adaptive Motion in Animals and Machines (AMAM 2005), Ilmenau, Germany, 2005. Simple and low-cost compliant leg-foot system
F. Meyer; A. Spröwitz; M. Lungarella; L. Berthouze
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
Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion
A. Spröwitz / A. J. Ijspeert (Dir.)
Lausanne, EPFL, 2010. 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. 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. Talks
Comparing the effect of different spine and leg designs for a small, bounding quadruped robot
P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert
Dynamic walking 2014, Zürich, June 10, 2014 – June 13, 2014.