Publications by Peter Eckert | EPFL Graph Search

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Agile quadrupedal locomotion in animals and robots is yet to be fully understood, quantified or achieved. An intuitive notion of agility exists, but neither a concise definition nor a common benchmark can be found. Further, it is unclear, what minimal leve ...

The present invention relates to a propulsion module (1) for generating wave-like motion in liquid. The propulsion module (1) comprises: a motor (7) for generating rotational motion; a set of conversion devices comprising a first conversion device (91) and ...

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlyin ...

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine conﬁguration. Both spine con- ﬁgurations bend in the sagi ...

A reliable concept for steering was realized by in- tegrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramat- ically compared to a robot with rigid spine, while keeping controlling effort low ...

Peter Eckert

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Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

Propulsion module for generating wave-like motion

Design and development of the efficient anguilliform swimming robot- MAR

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

Towards rich motion skills with the lightweight quadruped robot Serval

Friction and damping of a compliant foot based on granular jamming for legged robots

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

Simplifying Control through Active Tail Use