Publications de Soha Pouya | EPFL Graph Search

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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 ...

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 ...

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. ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Soha Pouya

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Roombots: Reconfigurable Robots for Adaptive Furniture

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

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

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

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

Meta Morphic Particle Swarm Optimization

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

Spinal joint compliance and actuation in a simulated bounding quadruped robot

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

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

Compliant and adaptive control of a planar monopod hopper in rough terrain

Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion

Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach