2013

Journal Articles

[49]
M. Khoramshahi; H. J. Bidgoly; S. Shafiee; A. Asaei; A. J. Ijspeert et al. : Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots; Robotics And Autonomous Systems. 2013. Vol. 61, num. 12, p. 1350-1359. DOI : 10.1016/j.robot.2013.08.001.
[48]
S. Faraji; M. S. Tavazoei : The effect of fractionality nature in differences between computer simulation and experimental results of a chaotic circuit; Central European Journal Of Physics. 2013. Vol. 11, num. 6, p. 836-844. DOI : 10.2478/s11534-013-0255-8.
[47]
L. Zollo; A. Salerno; M. Vespignani; D. Accoto; M. Passalacqua et al. : Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation; International Journal Of Advanced Robotic Systems. 2013. Vol. 10. DOI : 10.5772/56928.
[46]
A. Bicanski; D. Ryczko; J.-M. Cabelguen; A. J. Ijspeert : From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander; Biological Cybernetics. 2013. Vol. 107, num. 5, p. 565-587. DOI : 10.1007/s00422-012-0538-y.
[45]
A. J. Ijspeert; S. Grillner; P. Dario : Foreword for the special issue on Lamprey and Salamander Robots and the Central Nervous System; Biological Cybernetics. 2013. Vol. 107, num. 5, p. 495-496. DOI : 10.1007/s00422-013-0570-6.
[44]
A. Gams; T. Petrič; T. Debevec; J. Babič : Effects of Robotic Knee Exoskeleton on Human Energy Expenditure; IEEE Transactions on Biomedical Engineering. 2013. Vol. 60, num. 6, p. 1636-1644. DOI : 10.1109/TBME.2013.2240682.
[43]
T. Petrič; A. Gams; J. Babič; L. Žlajpah : Reflexive stability control framework for humanoid robots; Autonomous Robots. 2013. Vol. 34, num. 4, p. 347-361. DOI : 10.1007/s10514-013-9329-0.
[42]
T. Petrič; A. Gams; T. Debevec; L. Žlajpah; J. Babič : Control approaches for robotic knee exoskeleton and their effects on human motion; Advanced Robotics. 2013. Vol. 27, num. 13, p. 993-1002. DOI : 10.1080/01691864.2013.804164.
[41]
M. Sitti; A. Menciassi; A. J. Ijspeert; K. H. Low; S. Kim : Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics; Ieee-Asme Transactions On Mechatronics. 2013. Vol. 18, num. 2, p. 409-418. DOI : 10.1109/Tmech.2012.2233492.
[40]
M. Ajallooeian; J. van den Kieboom; A. Mukovskiy; M. Giese; A. Ijspeert : A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape; Physica D: Nonlinear Phenomena. 2013. Vol. 263, p. 41-56. DOI : 10.1016/j.physd.2013.07.016.
[39]
J. Knüsel; A. Bicanski; D. Ryczko; J.-M. Cabelguen; A. Ijspeert : A Salamander’s Flexible Spinal Network for Locomotion, Modeled at Two Levels of Abstraction; Integrative and Comparative Biology. 2013. Vol. 53, num. 2, p. 269-282. DOI : 10.1093/icb/ict067.
[38]
R. Ronsse; D. Rossi; S. M. Maria; N. Vitiello; T. Lenzi et al. : Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators; IEEE Transactions on Robotics. 2013. Vol. 29, num. 3, p. 783-791. DOI : 10.1109/TRO.2013.2240173.
[37]
D. P. Mersch; A. Crespi; L. Keller : Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization; Science. 2013. Vol. 340, num. 6136, p. 1090-1093. DOI : 10.1126/science.1234316.
[36]
A. Crespi; K. Karakasiliotis; A. Guignard; A. J. Ijspeert : Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits; IEEE Transactions on Robotics. 2013. Vol. 29, num. 2, p. 308-320. DOI : 10.1109/TRO.2012.2234311.
[35]
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. Vol. 107, num. 3, p. 309--320. DOI : 10.1007/s00422-013-0551-9.
[34]
A. J. Ijspeert; J. Nakanishi; H. Hoffmann; P. Pastor; S. Schaal : Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors; Neural Computation. 2013. Vol. 25, num. 2, p. 328-373. DOI : 10.1162/NECO_a_00393.
[33]
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. Vol. 32, num. 8, p. 932-950. DOI : 10.1177/0278364913489205.

Conference Papers

[32]
N. Thatte; M. Khoramshahi; A. Ijspeert; M. Sitti : Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot. 2013. Dynamic Walking 2013, Pittsburgh, Pennsylvania, USA, June 10-13, 2013.
[31]
M. Vespignani; E. Senft; S. Bonardi; R. Moeckel; A. J. Ijspeert : An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 4308-4313.
[30]
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.
[29]
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.
[28]
S. Bonardi; M. Vespignani; R. Moeckel; A. J. Ijspeert : Collaborative Manipulation and Transport of Passive Pieces using the Self-Reconfigurable Modular Robots Roombots. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 2406-2412.
[27]
S. Gay; J. Santos-Victor; A. Ijspeert : Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 194-201.
[26]
J. van den Kieboom; A. J. Ijspeert : Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control. 2013. IEEE Conference on Humanoids Robots, Atlanta USA, October 15-17, 2013.
[25]
J. van den Kieboom; S. Pouya; A. Ijspeert : Meta Morphic Particle Swarm Optimization. 2013. VI International Workshop on Nature Inspired Cooperative Strategies for Optimization, Canterbury, UK, September 2-4, 2013. p. 231-244.
[24]
A. Gams; B. Nemec; L. Zlajpah; M. Wachter; A. Ijspeert et al. : Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks. 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.
[23]
S. Gay; J. van den Kieboom; J. Santos-Victor; A. Ijspeert : Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow. 2013. IEEE Conference on Humanoids Robots, Atlanta, USA, October 15-17, 2013.
[22]
Y. Morel; A. J. Ijspeert; A. Leonessa : Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots. 2013. [5th Annual Dynamic Systems and Control Division Conference / 11th JSME Motion and Vibration Conference. p. 179-186.
[21]
A. Gams; J. van den Kieboom; F. Dzeladini; A. Ijspeert : Stable real-time full body motion imitation on the COMAN humanoid robot.. 2013. 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2013, Portorož, Slovenia, September 11 - 13, 2013.
[20]
R. Vuga; M. Ogrinc; A. Gams; T. Petric; N. Sugimoto et al. : Motion capture and reinforcement learning of dynamically stable humanoid movement primitives. 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.
[19]
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.
[18]
M. Vespignani; E. Senft; S. Bonardi; R. Möckel; A. Ijspeert : An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots. 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-8, 2013.
[17]
S. Bonardi; M. Vespignani; R. Möckel; A. Ijspeert : Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots. 2013. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, November 3-7, 2013.
[16]
S. Gay; J. Santos-Victor; A. Ijspeert : Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators. 2013. EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.
[15]
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.
[14]
J. Knuesel; K. Karakasiliotis; A. Crespi; D. Ryczko; J.-M. Cabelguen et al. : Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics. 2013. Annual Meeting of the Society for Integrative and Comparative Biology (SICB). p. E113.
[13]
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.
[12]
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.
[11]
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.
[10]
S. Faraji; S. Pouya; R. Moeckel; A. J. Ijspeert : Compliant and adaptive control of a planar monopod hopper in rough terrain. 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

[9]
A. Bicanski; D. Ryczko; J. Knuesel; N. Harischandra; V. Charrier et al. : Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics; Biological Cybernetics. 2013. Vol. 107, num. 5, p. 545-564. DOI : 10.1007/s00422-012-0543-1.

Theses

[8]
J. Knüsel : Modeling a diversity of salamander motor behaviors with coupled abstract oscillators and a robot. Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5709.
[7]
K. Karakasiliotis : Legged locomotion with spinal undulations. Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5607.

Posters

[6]
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.
[5]
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.
[4]
S. Pouya; S. Faraji; R. Möckel; A. Ijspeert : Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain ; 8th Dynamic Walking Conference (DWC 2013), Pittsburgh, USA, June 2013.
[3]
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.

Student Projects

[2]
S. Faraji : A Model-Based Control Approach for Locomotion of Biped Robots ; 2013.
[1]
F. Dzeladini : Implementation of a Human Feedback-based Locomotion and its Control by means of a Feedforward Component inspired by Central Pattern Generators ; 2013.