16 results
(View BibTeX file of all listed publications)
2022
Mechanical Design, Development and Testing of Bioinspired Legged Robots for Dynamic Locomotion
Eberhard Karls Universität Tübingen, Tübingen , November 2022 (phdthesis)
2021
Control Mechanisms for Postural Stability and Trunk Motion in Bipedal Running. A Numerical Study for Humans, Avians, and Bipedal Robots
Drama, Ö.
Universität Stuttgart, Stuttgart, May 2021 (phdthesis)
2020
Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics
Heim, S., Badri-Spröwitz, A.
May 2020 (talk)
Viability in State-Action Space. Connecting Morphology, Control, and Learning
Eberhard Karls Universität Tübingen, Tübingen, February 2020 (phdthesis)
2019
Electronics, Software and Analysis of a Bioinspired Sensorized Quadrupedal Robot
Technische Universität München, 2019 (mastersthesis)
Das Tier als Modell für Roboter, und Roboter als Modell für Tiere
Badri-Spröwitz, A.
In pages: 167-175, Springer, 2019 (incollection)
Entwicklung und Analyse neuartiger fluidischer Aktoren mit Rollmembran
Technische Universität München, 2019 (mastersthesis)
Impact of Trunk Orientation for Dynamic Bipedal Locomotion
Drama, Ö.
Dynamic Walking Conference, May 2018 (talk)
Impact of trunk orientation for dynamic bipedal locomotion
My research revolves around investigating the functional demands of bipedal running, with focus on stabilizing trunk orientation. When we think about postural stability, there are two critical questions we need to answer: What are the necessary and sufficient conditions to achieve and maintain trunk stability?
I am concentrating on how morphology affects control strategies in achieving trunk stability. In particular, I denote the trunk pitch as the predominant morphology parameter and explore the requirements it imposes on a chosen control strategy.
To analyze this, I use a spring loaded inverted pendulum model extended with a rigid trunk, which is actuated by a hip motor. The challenge for the controller design here is to have a single hip actuator to achieve two coupled tasks of moving the legs to generate motion and stabilizing the trunk. I enforce orthograde and pronograde postures and aim to identify the effect of these trunk orientations on the hip torque and ground reaction profiles for different control strategies.
Untersuchung und Charakterisierung von Teilelementen der Modifikation im Lumbosacralbereich von Vögeln
Hochschule Harz, 2018 (thesis)
2017
Evaluation of the passive dynamics of compliant legs with inertia
Györfi, B.
University of Applied Science Pforzheim, Germany, 2017 (mastersthesis)
2013
Motor Control Adaptation to Changes in Robot Body Dynamics for a Compliant Quadruped Robot
Pouya, S., Eckert, P., Spröwitz, A., Moc̈kel, R., Ijspeert, A. J.
In Biomimetic and Biohybrid Systems, 8064, pages: 434-437, Lecture Notes in Computer Science, Springer, Heidelberg, 2013 (incollection)
One of the major deficiencies of current robots in comparison to living beings is the ability to adapt to new conditions either resulting from environmental changes or their own dynamics. In this work we focus on situations where the robot experiences involuntary changes in its body particularly in its limbs’ inertia. Inspired from its biological counterparts we are interested in enabling the robot to adapt its motor control to the new system dynamics. To reach this goal, we propose two different control strategies and compare their performance when handling these modifications. Our results show substantial improvements in adaptivity to body changes when the robot is aware of its new dynamics and can exploit this knowledge in synthesising new motor control.
2010
Distributed Online Learning of Central Pattern Generators in Modular Robots
Christensen, D. J., Spröwitz, A., Ijspeert, A. J.
In From Animals to Animats 11, 6226, pages: 402-412, Lecture Notes in Computer Science, Springer, Berlin, 2010, author: Doncieux, Stéphan (incollection)
In this paper we study distributed online learning of locomotion gaits for modular robots. The learning is based on a stochastic ap- proximation method, SPSA, which optimizes the parameters of coupled oscillators used to generate periodic actuation patterns. The strategy is implemented in a distributed fashion, based on a globally shared reward signal, but otherwise utilizing local communication only. In a physics-based simulation of modular Roombots robots we experiment with online learn- ing of gaits and study the effects of: module failures, different robot morphologies, and rough terrains. The experiments demonstrate fast online learning, typically 5-30 min. for convergence to high performing gaits (≈ 30 cm/sec), despite high numbers of open parameters (45-54). We conclude that the proposed approach is efficient, effective and a promising candidate for online learning on many other robotic platforms.
Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion
Spröwitz, A.
EPFL, Lausanne, Lausanne, 2010 (phdthesis)
2005
Adaptation of Central Pattern Generators to Preexisting Mechanical Structure
Spröwitz, A.
Technische Universität Ilmenau, Ilmenau, 2005 (mastersthesis)