Publications de Alexander Spröwitz

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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 ...

This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is ...

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

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 ...

We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture ...

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

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 ...

In this thesis we present the design and implementation of a novel self-reconfiguring modular (SR-MR) robotic system: Roombots. We are aiming at three main applications with Roombots; locomotion through self-reconfiguration in the regular cubic 3D-lattice ...

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 ...

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission t ...

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint ...

This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction provid ...

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 ...

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straig ...

In this work we provide hands-on experience on designing and testing a self-reconfiguring modular robotic system, Roombots (RB), to be used among others for adaptive furniture. In the long term, we envision that RB can be used to create sets of furniture, ...

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correc ...

This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots metamodules. We explore how reconfiguration by locomotion from a configuration A to a co ...

Alexander Spröwitz

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Roombots: Reconfigurable Robots for Adaptive Furniture

Learning to move in modular robots using central pattern generators and online optimization

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

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

Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion

Spinal joint compliance and actuation in a simulated bounding quadruped robot

Passive compliant quadruped robot using central pattern generators for locomotion control

Graph signature for self-reconfiguration planning

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

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

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

Locomotion in modular robots based on central pattern generators