Konstantinos Karakasiliotis

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Legged locomotion with spinal undulations is a topic that has not received much attention yet in robotics, though, vertebrates depend on both their limbs and spine to move efficiently in their environments. In this thesis, my aim is to get more insights in ...

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

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 ...

Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tail ...

Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic s ...

Konstantinos Karakasiliotis

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Legged locomotion with spinal undulations

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

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

Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

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

Compliant Leg Design for a Quadruped Robot

Analysis of the terrestrial locomotion of a salamander robot

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics