Publications de Simon Lukas Hauser

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The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...

Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Searchbased approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in ...

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we ...

Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...

Jamming of granular media has been shown to possess the property of stiffness variation, transitioning from a soft to a quasi-solid state depending on the packing density of the granules. Recently, a gradual stiffness change for bending has been reported b ...

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

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 ...

One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system "Roombots", these shapes can be quite arbitrary for a great variety of tasks whil ...

Even though many prototypes of 3D self-reconfiguring modular robots (SRMRs) have been developed in recent years, a demonstration involving 1'000 modules remains a challenge. This is largely due to complex mechanics needed to achieve connection, disconnecti ...

Simon Lukas Hauser

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A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Compliance, locomotion and local computation in (self-) reconfigurable modular robots

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

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

Robotic Invention: Challenges and Perspectives for Model-Free Design Optimization of Dynamic Locomotion Robots

Playdough to Roombots: Towards a Novel Tangible User Interface for Self-reconfigurable Modular Robots

Kubits: Solid-State Self-Reconfiguration With Programmable Magnets