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2019


A Learnable Safety Measure
A Learnable Safety Measure

Heim, S., Rohr, A. V., Trimpe, S., Badri-Spröwitz, A.

Conference on Robot Learning, November 2019 (conference) Accepted

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Arxiv [BibTex]

2019


Arxiv [BibTex]


Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots
Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots

Drama, Ö., Badri-Spröwitz, A.

Proceedings International Conference on Humanoid Robots, Humanoids, September 2019 (conference) Accepted

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link (url) [BibTex]

link (url) [BibTex]


Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg
Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg

Ruppert, F., Badri-Spröwitz, A.

Frontiers in Neurorobotics, 64, pages: 13, 13, August 2019 (article)

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Frontiers YouTube link (url) DOI [BibTex]

Frontiers YouTube link (url) DOI [BibTex]


The positive side of damping
The positive side of damping

Heim, S., Millard, M., Le Mouel, C., Sproewitz, A.

Proceedings of AMAM, The 9th International Symposium on Adaptive Motion of Animals and Machines, August 2019 (conference) Accepted

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[BibTex]

[BibTex]


Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics

Steve Heim, , Spröwitz, A.

IEEE Transactions on Robotics (T-RO) , 35(4), pages: 939-952, August 2019 (article)

Abstract
Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear what constitutes favorable natural dynamics and how to quantify its effect. Most studies of simple walking and running models have focused on the basins of attraction of passive limit cycles and the notion of self-stability. We instead emphasize the importance of stepping beyond basins of attraction. In this paper, we show an approach based on viability theory to quantify robust sets in state-action space. These sets are valid for the family of all robust control policies, which allows us to quantify the robustness inherent to the natural dynamics before designing the control policy or specifying a control objective. We illustrate our formulation using spring-mass models, simple low-dimensional models of running systems. We then show an example application by optimizing robustness of a simulated planar monoped, using a gradient-free optimization scheme. Both case studies result in a nonlinear effective stiffness providing more robustness.

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arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]

arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]


Quantifying the Robustness of Natural Dynamics: a Viability Approach
Quantifying the Robustness of Natural Dynamics: a Viability Approach

Heim, S., Sproewitz, A.

Proceedings of Dynamic Walking , Dynamic Walking , 2019 (conference) Accepted

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Submission DW2019 [BibTex]

Submission DW2019 [BibTex]

2009


Roombots-mechanical design of self-reconfiguring modular robots for adaptive furniture
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.

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DOI [BibTex]

2009


DOI [BibTex]