Publications by Soha Pouya | EPFL Graph Search

Related publications (13)

Roombots: Reconfigurable Robots for Adaptive Furniture

Auke Ijspeert, Pierre Dillenbourg, Aude Billard, Alexander Spröwitz, Rico Möckel, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...

2010

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Auke Ijspeert, Alexander Spröwitz, Massimo Vespignani, Rico Möckel, Soha Pouya, Stéphane Bonardi

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time con- suming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimizat ...

2013

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom

Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...

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A Control and Optimization Framework for Robot Locomotion : from Model-free to Model-based Approaches

Soha Pouya

Despite great efforts in designing legged robots, we are still far from the adaptivity, efficiency and robustness with which animals can move. Observations from successful biomimetic designs highlight the significant role of clever morphological design in ...

EPFL2013

Meta Morphic Particle Swarm Optimization

Auke Ijspeert, Soha Pouya, Jesse van den Kieboom

Particle Swarm Optimization is a simple and elegant optimization algorithm used to solve a large variety of different real-valued problems. When it comes to solving combinations of continuous and discrete problems however, PSO by itself is not very well su ...

Springer2013

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

Auke Ijspeert, Soha Pouya, Mostafa Ajallooeian

In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...

2012

Spinal joint compliance and actuation in a simulated bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Soha Pouya

Spine movements play an important role in quadrupedal locomotion, yet their potential benefits in locomotion of quadruped robots have not been systematically explored. In this work, we investigate the role of spinal joint actuation and compliance on the bo ...

Springer2017

Co-evolution of Morphology and Control of Virtual Legged Robots for the Steering Task

Auke Ijspeert, Soha Pouya, Jesse van den Kieboom

Co-evolution of morphology and control is a powerful approach in robotics to study performance on a particular task, considering mechanical structure and control as a whole to accomplish a certain goal. Co-evolutionary methods have been used to study the e ...

2011

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Auke Ijspeert, Alexander Spröwitz, Massimo Vespignani, Rico Möckel, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method t ...