Publications by Alessandro Crespi

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Diverse locomotor behaviors emerge from the interactions between the spinal central pattern generator (CPG), descending brain signals and sensory feedback. Salamander motor behaviors include swimming, struggling, forward underwater stepping, and forward an ...

Social isolation negatively affects health, induces detrimental behaviors, and shortens lifespan in social species. Little is known about the mechanisms underpinning these effects because model species are typically short-lived and non-social. Using coloni ...

The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...

Many aquatic animals, including larval zebrafish, exhibit intermittent locomotion, moving via discrete swimming bouts followed by passive glides rather than continuous movement. However, fundamental questions remain unresolved: What neural mechanisms drive this behavior, and what functional benefits does this behavior offer? Specifically, is intermittent swimming more energy efficient than continuous swimming, and, if so, by what mechanism? Live-animal experiments pose technical challenges, because observin

This thesis presents the design and realization of two generations of robot elements that can be assembled together to construct amphibious mobile robots. These elements, designed to be individually waterproof and having their own battery, motor controller ...

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Honeybees form societies in which thousands of members integrate their behaviours to act as a single functional unit. We have little knowledge on how the collaborative features are regulated by workers' activities because we lack methods that enable collec ...

The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can b ...

Ant and honeybee workers specialize on certain tasks and also on zones within the nest; but how do they avoid straying into the wrong zone? The authors conduct automated tracking experiments following thousands of individuals, revealing that workers use co ...

This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the n ...

This paper provides a robustness analysis of the method we recently developed for rhythmic movement assistance using adaptive oscillators. An adaptive oscillator is a mathematical tool capable of extracting high-level features (i.e. amplitude, frequency, offset) of a quasi-sinusoidal measured movement, a rhythmic flexion-extension of the elbow in this case. By the use of a simple inverse dynamical model, the system can predict the torque produced by a human participant, such that a fraction of this estimate

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...

In this paper, we present Salamandra robotica II: an amphibious salamander robot that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on the ground. The paper first ...

Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of th ...

Autonomous marine vehicles are becoming essential tools in aquatic environmental monitoring systems, and can be used for instance for data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. In this work, we present an uncon ...

Ants live in organized societies with a marked division of labor among workers, but little is known about how this division of labor is generated. We used a tracking system to continuously monitor individually tagged workers in six colonies of the ant Camp ...

Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source locali ...

Alessandro Crespi

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Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

Social isolation shortens lifespan through oxidative stress in ants

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

Energy efficiency and neural control of continuous versus intermittent swimming in a fishlike robot

Design and control of amphibious robots with multiple degrees of freedom

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Automated computer-based detection of encounter behaviours in groups of honeybees

From swimming to walking with a salamander robot driven by a spinal cord model

Two simple movement mechanisms for spatial division of labour in social insects

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Assistance using adaptive oscillators: Robustness to errors in the identification of the limb parameters

Online optimization of swimming and crawling in an amphibious snake robot

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

Controlling swimming and crawling in a fish robot using a central pattern generator

Envirobot: A Bio-Inspired Environmental Monitoring Platform

Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator