I am interested in the underlying mechanisms of dynamic legged locomotion in animals, especially aspects of animal biomechanics, morphology, and neurocontrol. To test biomechanical and control models my team and I are developing legged robots and their computer models.
We apply legged robots as research platforms to produce rich, high-dimensional experimental data under realistic conditions. We can cross-check the gathered data with biomechanical data of running animals. This eventually allows us to identify individual components, and potential relationships between components.
My interest spans from bioinspired and biomimicking robot locomotion, bioinspired approaches to sensor design, learning locomotion, to understanding locomotion biomechanics in animals and robots.
I worked on feedback-driven central pattern generators (Bonhoeffer-van der Pol model) on a small humanoid hopping robot for my Diploma thesis, with my supervisors Hartmut Witte at Technical University of Ilmenau, Germany and Luc Berthouze in Tsukuba, Japan at AIST.
Fluidic actuators allow versatile, agile, and powerful motions and are commonly applied in robotics and automation. Likewise, many biological systems use fluidic actuators implemented with tissue for a wealth of tasks and performances.
Spiders apply a hybrid mechanism of hydraulically actuated joint extension and...
Khoramshahi, M., Spröwitz, A., Tuleu, A., Ahmadabadi, M. N., Ijspeert, A. J.
In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages: 3329-3334, May 2013 (inproceedings)
We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot running in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straight forward. However, we did no observe an improvement of cost of transport of the spine-actuated, faster robot system compared to the rigid spine.
Asadpour, M., Spröwitz, A., Billard, A., Dillenbourg, P., Ijspeert, A. J.
Graph signature for self-reconfiguration planning
In Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 863-869, IEEE, Nice, 2008 (inproceedings)
Meyer, F., Spröwitz, A., Lungarella, M., Berthouze, L.
Simple and low-cost compliant leg-foot system
In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), 1, pages: 515-520, IEEE, Sendai, Japan, 2004 (inproceedings)
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems