Header logo is


2009


Thumb xl screen shot 2018 02 03 at 4.40.27 pm
Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture

Spröwitz, A., Billard, A., Dillenbourg, P., Ijspeert, A. J.

In Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pages: 4259-4264, IEEE, Kobe, 2009 (inproceedings)

Abstract
We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection and disconnection of modules and rotations of the degrees of freedom. We are furthermore interested in applying Roombots towards adaptive behaviour, such as online learning of locomotion patterns. To create coordinated and efficient gait patterns, we use a Central Pattern Generator (CPG) approach, which can easily be optimized by any gradient-free optimization algorithm. To provide a hardware framework we present the mechanical design of the Roombots modules and an active connection mechanism based on physical latches. Further we discuss the application of our Roombots modules as pieces of a homogenic or heterogenic mix of building blocks for static structures.

dlg

DOI [BibTex]

2009


DOI [BibTex]


no image
Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running

Daley, M., Righetti, L., Ijspeert, A.

In Comparative Biochemistry and Physiology - Part A: Molecular & Integrative Physiology. Annual Main Meeting for the Society for Experimental Biology, 153, Glasgow, Scotland, 2009 (inproceedings)

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


Thumb xl screen shot 2018 02 03 at 6.38.18 pm
An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots

Mockel, R., Spröwitz, A., Maye, J., Ijspeert, A. J.

In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2801-2806, IEEE, San Diego, CA, 2007 (inproceedings)

Abstract
We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.

dlg

DOI [BibTex]

2007


DOI [BibTex]


no image
Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Degallier, S., Righetti, L., Ijspeert, A.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2047-2052, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Lower body realization of the baby humanoid - ‘iCub’

Tsagarakis, N., Becchi, F., Righetti, L., Ijspeert, A., Caldwell, D.

In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 3616-3622, IEEE, San Diego, USA, 2007 (inproceedings)

Abstract
Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

mg

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2003


no image
Evolution of Fault-tolerant Self-replicating Structures

Righetti, L., Shokur, S., Capcarre, M.

In Advances in Artificial Life, pages: 278-288, Lecture Notes in Computer Science, Springer Berlin Heidelberg, 2003 (inproceedings)

Abstract
Designed and evolved self-replicating structures in cellular automata have been extensively studied in the past as models of Artificial Life. However, CAs, unlike their biological counterpart, are very brittle: any faulty cell usually leads to the complete destruction of any emerging structures, let alone self-replicating structures. A way to design fault-tolerant structures based on error-correcting-code has been presented recently [1], but it required a cumbersome work to be put into practice. In this paper, we get back to the original inspiration for these works, nature, and propose a way to evolve self-replicating structures, faults here being only an idiosyncracy of the environment.

mg

link (url) DOI [BibTex]

2003


link (url) DOI [BibTex]