Locomorph

[69] Moeckel, Rico ; Perov, Yura N. ; Nguyen, Anh The ; Vespignani, Massimo ; Bonardi, Stephane ; Pouya, Soha ; Sproewitz, Alexander ; van den Kieboom, Jesse ; Wilhelm, Frederic ; Ijspeert, Auke Jan. "Gait optimization for roombots modular robots — Matching simulation and reality", 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013

[68] Pouya, Soha; Eckert, Peter; Sproewitz, Alexander; Möckel, Rico; Ijspeert, Auke. "Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot",The 2nd International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013)

[67] Spröwitz, Alexander; Möckel, Rico; Vespignani, Massimo; Bonardi, Stéphane; Ijspeert, Auke, "Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot", Robotics and Autonomous Systems, 2013

[66] S. Pouya, P. Eckert, A. Sproewitz, R. Moeckel, and 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), London, UK, 2013.

[65] J. van den Kieboom, S. Pouya, and A. Ijspeert. “Meta Morphic Particle Swarm Optimization”, Nature Inspired Cooperative Strategies for Optimization (NICSO), UK, 2013.

[64] S. Faraji, S. Pouya, C. D. Atkeson, and A. Ijspeert. “Versatile and Robust 3D Walking with the Humanoid Robot Atlas: a Model Predictive Control Approach”, IEEE International Conference on Robotics and Automation (ICRA), 2014.

[63] Christensen, D.J.;Schultz, U.P.;Stoy, K., A distributed and morphology-independent strategy for adaptive locomotion in self-reconfigurable modular robots, Robotics and Autonomous Systems, 61(9):1021-1035, 2013.

[62] B. Vanhooydonck, R. S. James, J. Tallis, P. Aerts, Z. Tadic, K. A. Tolley, G. J. Measey and A. Herrel, Is the whole more than the sum of its parts? Evolutionary trade-offs between burst and sustained locomotion in lacertid lizards, Proceedings of the Royal Society B, doi:10.1098/rspb.2013.2677, 2014

[61] Christensen, D.J.;Larsen, J.C.;Stoy, K., Adaptive Strategy for Online Gait Learning Evaluated on the Polymorphic Robotic LocoKit, Proceedings, IEEE Conference on Evolving and Adaptive Intelligent Systems, pp. 63-68, Madrid, Spain, 2012.

[60] Larsen, J.C.;Brandt, D.;Stoy, K., LocoKit: A Construction Kit for Building Functional Morphologies for Robots, Proceedings, 12th Int. Conf. on Adaptive Behaviour, pp. 12-24, Odense, Denmark, 2012.

[59] Sheikh, F. I. & Pfeifer, R. "Adaptive locomotion on varying ground conditions via a reconfigurable leg length hopper " Adaptive Mobile Robotics , Climbing and Walking Robots (CLAWAR), 2012, 527-535.

[58] Qian Zhao, Kohei Nakajima, Hidenobu Sumioka, Helmut Hauser, and Rolf Pfeifer "Spine dynamics as a computational resource in spine-driven quadruped locomotion"submitted to IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013).

[57] Hung Vu, Helmut Hauser, Derek Leach, and Rolf Pfeifer "A variable stiffness mechanism for improving energy efficiency of a planar single-legged hopping robot" accepted to ICAR 2013 - 16th International Conference on Advanced Robotics (ICAR2013).

[56] Hung Vu and Lorenzo G. Marcantini "Knee stiffness adjustment for energy efficient locomotion of a legged robot on surfaces with different stiffness" accepted to The IEEE International Conference on Robotics and Biomimetics (ROBIO 2013).

[55] Hung Vu, Yu Xiaoxiang, Fumiya Iida, and Rolf Pfeifer. “Stiffness adaptation to the stride frequency for improving energy efficiency of legged hopping robot” under review of  The International Journal of Robotics Research, 2013.

[54] Assaf, D.; Larsen, J. C. & Reichardt, M. “Extending Mechanical Construction Kits to Incorporate Passive and Compliant Elements for Educational Robotics”. Proceedings of 3rd international conference on robotics in education (RIE 2012), 2012.

[53] R. Moeckel, S. Pouya, C. Maufroy, F. Peuker, A. Tuleu, S. Bonardi, M. Vespignani, S. Grimmer, P. Aerts, K. D'Aout, H. Hauser, L. Aryananda, R. Pfeifer, K. Stoy, A. Seyfarth, A. J. Ijspeert, Locomorph robot system - towards legged modular robots with model-inspired morphology, The 6th International Symposium on Adaptive Motion of Animals and Machines (AMAM), Darmstadt, Germany, March 2013.

[52] S. Pouya, P. Eckert, A. Sproewitz, R. Moeckel, A. J. 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.

[51] S. Pouya, S. Faraji, R. Moeckel and Auke Ijspeert, Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain. 8th Dynamic Walking Conference (DWC), Pittsburgh, USA, 2013.

[50] S. Faraji, S. Pouya, R. Moeckel and Auke Ijspeert, Compliant and Adaptive Control of a Planar Monopod Hopper in Rough Terrain. IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, 2013.

[49] M. Ajallooeian, S. Pouya, S. Gay, A. Tuleu, A. Sprowitz and Auke Ijspeert, Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain. Dynamic Walking Conference (DWC), Pittsburgh, USA, 2013.

[48] M. Ajallooeian, S. Pouya, A. Sproewitz and Auke Ijspeert, Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion. 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.

[47] A. Sproewitz, R. Moeckel, M. Vespignani, S. Bonardi and A.J. Ijspeert. “Roombots: A Hardware Perspective at 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot”. Journal of Robotics and Autonomous Systems, (submitted).

[46] R. Moeckel, Y. Perov, A. T. Nguyen, M. Vespignani, S. Bonardi, S. Pouya, A. Sproewitz, J. van den Kieboom, F. Wilhelm, A. J. Ijspeert, Hybrid gait optimization applied to Roombots modular robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Sept. 2013, (submitted).

[45] 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, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Sept. 2013, (submitted).

[44] S. Bonardi, M. Vespignani, R. Moeckel, A.J. Ijspeert, Collaborative Manipulation and Transport of Passive Pieces using the Roombots Self-Reconfigurable Modular Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, Sept. 2013, (submitted).

[43] J. van den Kieboom, S. Pouya, A. Ijspeert, Meta Morphic Particle Swarm Optimization; Simultaneous optimization of solution classes and their continuous parameters, International Workshop on Nature Inspired Cooperative Strategies for Optimization, UK, Sept. 2013, (submitted).

[42] S. Pouya, M. Khodabakhsh, R. Moeckel, A. Ijspeert, Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robot, 7th Dynamic Walking Conference, USA, May 2012.

[41] J. Larsen, K. Stoy, D. Brandt, S. Grimmer and M. Gross, Systematic, bottom-up robot design using a biomechanical experimental methodology, 15th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Machines, USA, July 23-26, 2012.

[40] K. Karakasiliotis, K. D’Aout, P. Aerts, A. Ijspeert, Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus, IEEE International Conference on Biomedical Robotics and Biomechatronics, Roma, Italy , June 24-28, 2012.

[39] S. Pouya, M. Ajalooeian, A. JIjspeert, A closed-loop optimal control approach for online control of a planar monopod hopper, 15th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Machines, USA, July 23-26, 2012.

[38] S. Bonardi, R. Moeckel, A. Sproewitz, M. Vespignani, A. Ijspeert, Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots, 7th German Conference on Robotics, Munich, Germany, May 21-22, 2012.

[37] S. Bonardi, J. Blatter, J. Fink, R. Moeckel, P. Jermann, P. Dillenbourg, and A. J. Ijspeert. “Design and evaluation of a graphical iPad application for arranging adaptive furniture”. IEEE International Symposium on Robot and Human Interactive Communication, 2012.

[36] F.I. Sheik, Q.H. Vu, H. Hauser, L. Aryananda, R. Pfeifer, SLIP-Model-Compatible and Bio-inspired Robotic Leg with Reconfigurable Length, The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), Japan, 2011.

[35] Q. H. Vu, R. Gilles, F. Casanova, L. Aryananda, M. Hoffmann, F. I. Sheikh, H. Hauser, Gait Versatility through Morphological Changes in a New Quadruped Robot , The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), Japan, 2011.

[34] H. Sumioka, H. Hauser, R. Pfeifer, Computation with mechanically coupled springs for compliant robots , The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

[33] H. Hauser, G. Griesbacher, Moving a Robot Arm by Exploiting its Complex Compliant Morphology, Proceedings of the 2nd International Conference on Morphological Computation, 2011.

[32] S. Pouya, R. Moeckel, F. Peuker, A. Ijspeert, A. Seyfarth, Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation, 14th International Conference on Climbing and Walking Robots, Paris, 2011.

[31] S. Pouya, P. Eckert, A. Sproewitz, R. Moeckel, A. J. 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.

[30] J. van den Kieboom, S. Pouya, A. Ijspeert, Meta Morphic Particle Swarm Optimization; Simultaneous optimization of solution classes and their continuous parameters, International Workshop on Nature Inspired Cooperative Strategies for Optimization, UK, Sept. 2013.[29] K. Larpin, S. Pouya, J. van den Kieboom, A. Ijspeert, Co-evolution of Morphology and Control of Virtual Legged Robots for the Steering Task, IEEE International conference on Robotics and Biomimetics (IEEE ROBIO), Phuket, Thailand, 2011.

[29] S. Pouya, E. Aydin, R. Moeckel. A. Ijspeert, Control Architecture for Generating Locomotion Patterns for Robots with Different Morphologies, The European Future Technologies Conference and Exhibition, Poster session, Budapest, May 2011.

[28] H. M. Maus, A. Seyfarth, S. Grimmer, Combining forces and kinematics for calculating consistent centre of mass trajectories, Journal of Experimental Biology, 214 (21): 3511-3517, 2011. DOI: 10.1242/jeb.057422.

[27] F. Peuker, A. Seyfarth, Der Einfluss von Beinmasse auf die Stabilität des Rennens im Masse-Feder-Modell, Proceedings of the German Association of Sports Science (dvs-Schriftenreihe), dvs-Jahrestagung Sektion Biomechanik (Contribution as poster), Germany, 2011.

[26] M. Lenk, S. Grimmer, A. Seyfarth, Simulated injury – constrained knee joint does not effect leg dynamics in walking, In: Van Sint Jan S, Feipel V, Aerenhouts D et al. (2011) XXIIIrd congress of the International Society of Biomechanics - ISB2011 Conference book. ISBN 9789090260198. pp 164-165.

[25] K. Stoy, H. Kurokawa, Current Topics in Classic Self-reconfigurable Robot Research, Proceedings of the IROS Workshop on Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo-Hybrid Systems, San Francisco, CA, USA, 2011.

[24] M.P.O. Cabrera, R.S. Trifonov, G.A. Castells, K. Stoy, Wireless Communication and Power Transfer in Modular Robots, Proceedings of the IROS Workshop on Reconfigurable Modular Robotics: Challenges of Mechatronic and Bio-Chemo-Hybrid Systems, San Francisco, CA, USA, 2011.

[23] C. Maufroy, H.M. Maus, A. Seyfarth, Simplified control of upright walking by exploring asymmetric gaits induced by leg damping, in Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2011), Phuket, Thailand, Dec 7-11, 2011.

[22] F. Peuker, S. Grimmer, S. Pouya, R. Moeckel, A. Ijspeert, and A. Seyfarth, Anchoring the SLIP model: The effect of leg mass on running stability, in Proceedings of The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), Awaji Island, Hyogo, Japan, Oct 11-14, 2011.

[21] F. Peuker, D. Renjewski, M. Gross, S. Grimmer, and A. Seyfarth, Involuntary morphosis - modular simulation of limb damage in quadrupeds, in Proceedings of Dynamic Walking 2011, Jena, Germany, July 18-21, 2011.

[20] J.C.Larsen, K. Stoy, LocoKit - A Construction Kit for Exploration of Morphology of Legged Robots, in Proceedings of The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011).

[19] J.C.Larsen, K. Stoy, Energy Efficiency of Robot Locomotion Increases Proportional to Weight (Extended Abstract), in Proceedings of The European Future Technologies Conference and Exhibition (FET11).

[18] Hung Vu Quy, Lijin Aryananda, Farrukh Iqbal Sheikh, Flurin Casanova, Rolf Pfeifer, A Novel Mechanism for Varying Stiffness Via Changing Transmission Angle, accepted for 2011 IEEE International Conference on Robotics and Automation (ICRA 2011) on May in Shanghai, China

[17] P. Zahadat, D.J. Christensen, S. Katebi and K. Stoy, Sensor-coupled Fractal Gene Regulatory Networks for Locomotion Control of a Modular Snake Robot, in Proceedings of the 10th International Symposium on Distributed Autonomous Robotic Systems, Lausanne, Switzerland, 2010. (in press)

[16] P. Zahadat , D.J. Christensen, U.P. Schultz, S.D. Katebi, K. Stoy, Fractal Gene Regulatory Networks for Robust Locomotion Control of Modular Robots, in Proceedings of the 11th International Conference on Simulation of Adaptive Behavior (SAB2010), Paris, France, 2010.

[15] D.J. Christensen, A. Sproewitz, A. J. Ijspeert, Distributed Online Learning of Central Pattern Generators in Modular Robots, in Proceedings of the 11th International Conference on Simulation of Adaptive Behavior (SAB2010), pp. 402-412, Paris, France, August 2010.

[14] D.J. Christensen, U.P. Schultz, K. Stoy, A Distributed Strategy for Gait Adaptation in Modular Robots, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA2010), pp. 2765-2770, Anchorage, Alaska, May 2010.

[13] J.C Larsen, R.F.M. Garcia, K. Stoy, Increased Versatility of Modular Robots through Layered Heterogeneity, in Proceedings of the ICRA Workshop on Modular Robots, State of the Art, Anchorage, Alaska, pp. 24-29, 2010.

[12] M. Gross, A. Seyfarth. Strategies of three legged locomotion. Annual Main Meeting of the Society for Experimental Biology 2010, June 30 - July 02, Prague, Czech Republic, 2010.

[11] M. Gross, J. Rummel, A. Seyfarth. How to Achieve Stable Trotting? Dynamic Walking 2009, June 06-11, Vancouver, Canada, 2009.

[10] M. Gross, J. Rummel. Swing-leg Strategies for Stable Dog Trotting. Annual Main Meeting of the Society for Experimental Biology 2009, June 28 - July 01, Glasgow, Scotland, 2009.

[9] S. Grimmer, P. Aerts, A. Seyfarth. Changes in Pedality: From Quadrupedal to Bipedal Locomotion in Humans (Manuscript submitted as part of Deliverable 4.1). In preparation, to be submitted for publication.

[8] V. Q. Hung, L. Aryananda, R. Pfeifer. MESTRAN: A Mechanism for Varying Stiffness via Changing Transmission Angle. Submitted to Variable Impedance Actuator Workshop, IEEE International Conference on Robotics and Automation (ICRA), 2010, organized by VIACTORS (FP7-ICT-2007.8.5 #231554).

[7] A. Sproewitz, P. Laparde, S. Bonardi, M. Mayer, R. Moeckel, P. Murdy, A. J. Ijpeert. Roombots - Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules. Proceedings of IEEE IROS2010, Taipei, Taiwan, October 18-22, 2010.

[6] S. Peter, S. Grimmer, S.W. Lipfert, A. Seyfarth. Variable Joint Elasticities in Running, Autonome Mobile Systeme 2009, Dillmann R, Beyerer J, Stiller C, Zoellner JM, Gindele T (Eds.) Springer: 129-139, 2009.

[5] S. Pouya, J. van den Kieboom, A. Sproewitz, A. J. Ijspeert. Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question. Proceedings of IEEE/RSJ IROS 2010, Taipei, Taiwan, October 18-22, 2010.

[4] A. Sproewitz, S. Pouya, S. Bonardi, J. van den Kieboom, R. Moeckel, A. Billard, P. Dillenbourg, and A. J. Ijspeert. Roombots: Reconfigurable Robots for Adaptive Furniture, IEEE Computational Intelligence Magazine, special issue on "Evolutionary and developmental approaches to robotics", vol. 5, num. 3, p. 20-32, 2010.

[3] P. Zahadat, D.J. Christensen, U.P. Schultz, S. Katebi, K. Stoy. Fractal gene regulatory networks for robust locomotion control of modular robots. In Proceedings, International Conference on Simulation of Adaptive Behavior, (submitted), Paris, France, 2010.

[2] J.A. Smith and J. Jivraj, Preliminary Energetics of Tripedal and Quadrupedal Gaits Using the GARP-4 Robot, Symposium on Brain, Body and Machine, Montreal, Canada, Nov. 2010

[1] J.A. Smith and J. Jivraj, Analysis of Robotis Dynamixel AX-12+ Actuator Latencies, Symposium on Brain, Body and Machine, Montreal, Canada, Nov. 2010.