Header logo is


2015


no image
Fluctuational electrodynamics for nonlinear media

Soo, H.

Universität Stuttgart, Stuttgart, 2015 (mastersthesis)

icm

[BibTex]

2015


[BibTex]


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

Eckert, P., Spröwitz, A., Witte, H., Ijspeert, A. J.

In Proceedings of ICRA, pages: 3128-3133, Seattle, Washington, USA, 2015 (inproceedings)

Abstract
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 sagittal plane. This study aims at characterizing these two, largely different spine concepts, for a bounding gait of a robot with a three segmented, pantograph leg design. An earlier, similar-sized, bounding, quadruped robot named Bobcat with a two-segment leg design and a directly actuated, single-joint spine design serves as a comparison robot, to study and compare the effect of the leg design on speed, while keeping the spine design fixed. Both proposed spine designs (single rotatory and active and multi-joint compliant) reach moderate, self-stable speeds.

dlg

link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


no image
Evaporation and growth of liquid drops

Pöhnl, Ruben

Universität Stuttgart, Stuttgart, 2015 (mastersthesis)

icm

[BibTex]

[BibTex]

2014


no image
Wetting phenomena in electrolyte solutions

Ibagon, I.

Universität Stuttgart, Stuttgart, 2014 (phdthesis)

icm

link (url) [BibTex]

2014


link (url) [BibTex]


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

Bonardi, S., Vespignani, M., Möckel, R., Van den Kieboom, J., Pouya, S., Spröwitz, A., Ijspeert, A.

In Proceedings of Robotics: Science and Systems, University of California, Barkeley, 2014 (inproceedings)

Abstract
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 to automatically generate reduced Central Pattern Generator (CPG) networks for locomotion control based on the detection of bio-inspired sub-structures, like body and limbs, and articulation joints inside the robotic structure. We demonstrate how that information, coupled with the potential symmetries in the structure, can be used to speed up the optimization of the gaits and investigate its impact on the solution quality (i.e. the velocity of the robotic structure and the potential internal collisions between robotic modules). We tested our approach on three simulated structures and observed that the reduced network topologies in the first iterations of the optimization process performed significantly better than the fully open ones.

dlg

DOI [BibTex]

DOI [BibTex]


no image
Tubular micro- nanorobots: smart design for bio-related applications

Sanchez, S., Wang, X., Solovev, A. A., Soler, L., Magdanz, V., Schmidt, O. G.

In Small-Scale Robotics, 8336, pages: 16-27, Lecture Notes in Computer Science, Springer, Karlsruhe, 2014 (inproceedings)

Abstract
We designed microrobots in the form of autonomous and remotely guided microtubes. One of the challenges at small scales is the effective conversion of energy into mechanical force to overcome the high viscosity of the fluid at low Reynolds numbers. This can be achieved by integration of catalytic nano-materials and processes to decompose chemical fuels. However, up to now, mostly hydrogen peroxide has been employed as a fuel which renders the potential applications in biomedicine and in vivo experiments. Therefore, other sources of energy to achieve motion at the micro- nanoscale are highly sought-after. Here, we present different types of tubular micro- and nanorobots, alternative approaches to toxic fuels and also, steps towards the use of tubular microrobots as micro- and nanotools

icm

DOI [BibTex]

DOI [BibTex]


no image
Cosmology in a petri dish? Simulation of collective dynamics of colloids at fluid interfaces

Bleibel, J.

In EPJ Web of Conferences, 70, EDP Sciences, 2014 (inproceedings)

icm

DOI [BibTex]


no image
Trajectory to trajectory fluctuations in first-passage phenomena in bounded domains

Mattos, Thiago G., Mejia-Monasterio, Carlos, Metzler, Ralf, Oshanin, Gleb, Schehr, G.

In First-passage phenomena and their applications, pages: 203-225, World Scientific Publishing, Singapore, 2014 (incollection)

icm

DOI [BibTex]

DOI [BibTex]


no image
Dynamik einer fast-kritischen binären Flüssigkeit in zwei Dimensionen

Maisch, J.

Universität Stuttgart, Stuttgart, 2014 (mastersthesis)

icm

[BibTex]

[BibTex]


no image
Brownsche Bewegung schraubenförmiger Nanoteilchen

Gehrmann, C.

Universität Stuttgart, Stuttgart, 2014 (mastersthesis)

icm

[BibTex]

[BibTex]


no image
Self-Exploration of the Stumpy Robot with Predictive Information Maximization

Martius, G., Jahn, L., Hauser, H., V. Hafner, V.

In Proc. From Animals to Animats, SAB 2014, 8575, pages: 32-42, LNCS, Springer, 2014 (inproceedings)

al

[BibTex]

[BibTex]


no image
Electromagnetic self-propulsion for small objects in the near field

Müller, Boris

Universität Stuttgart, Stuttgart, 2014 (mastersthesis)

icm

[BibTex]

[BibTex]


no image
Robot Learning by Guided Self-Organization

Martius, G., Der, R., Herrmann, J. M.

In Guided Self-Organization: Inception, 9, pages: 223-260, Emergence, Complexity and Computation, Springer Berlin Heidelberg, 2014 (incollection)

al

link (url) DOI [BibTex]

link (url) DOI [BibTex]


no image
Thermal and structural properties of dense ionic liquids

Bartsch, Hendrik

Universität Stuttgart, Stuttgart, 2014 (mastersthesis)

icm

[BibTex]

[BibTex]

2010


Graph signature for self-reconfiguration planning of modules with symmetry
Graph signature for self-reconfiguration planning of modules with symmetry

Asadpour, M., Ashtiani, M. H. Z., Spröwitz, A., Ijspeert, A. J.

In Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 5295-5300, IEEE, St. Louis, MO, 2010 (inproceedings)

Abstract
In our previous works we had developed a framework for self-reconfiguration planning based on graph signature and graph edit-distance. The graph signature is a fast isomorphism test between different configurations and the graph edit-distance is a similarity metric. But the algorithm is not suitable for modules with symmetry. In this paper we improve the algorithm in order to deal with symmetric modules. Also, we present a new heuristic function to guide the search strategy by penalizing the solutions with more number of actions. The simulation results show the new algorithm not only deals with symmetric modules successfully but also finds better solutions in a shorter time.

dlg

DOI [BibTex]

2010


DOI [BibTex]


no image
Nanofluidics of thin liquid films

Rauscher, M., Dietrich, S.

In Handbook of Nanophysics, Principles and Methods, 1, pages: 11-1-11-23, Handbook of Nanophysics, CRC Press, Boca Raton, 2010 (incollection)

icm

[BibTex]

[BibTex]


no image
Dynamics of complex fluids at liquid-solid interfaces

Almenar Egea, L.

Universität Stuttgart, Stuttgart, 2010 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
Nanotropfen an Stufen

Maier, D.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

icm

[BibTex]

[BibTex]


Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules
Roombots - Towards decentralized reconfiguration with self-reconfiguring modular robotic metamodules

Spröwitz, A., Laprade, P., Bonardi, S., Mayer, M., Moeckel, R., Mudry, P., Ijspeert, A. J.

In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 1126-1132, IEEE, Taipeh, 2010 (inproceedings)

Abstract
This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots (RB) metamodules. We explore how reconfiguration by loco- motion from a configuration A to a configuration B can be controlled in a distributed fashion. This is done using Roombots metamodules—two Roombots modules connected serially—that use broadcast signals, lookup tables of their movement space, assumptions about their neighborhood, and connections to a structured surface to collectively build desired structures without the need of a centralized planner.

dlg

DOI [BibTex]

DOI [BibTex]


no image
Critical Casimir forces involving a chemically structured substrate

Parisen Toldin, F., Dietrich, S.

In International Journal of Modern Physics, 25, pages: 355-359, University of Oklahoma, USA, 2010 (inproceedings)

icm

DOI [BibTex]

DOI [BibTex]


no image
Untersuchung der kritischen Adsorption an kolloidalen Teilchen mit Hilfe von Streutechniken

Slupina, C.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

icm

[BibTex]

[BibTex]


Distributed Online Learning of Central Pattern Generators in Modular Robots
Distributed Online Learning of Central Pattern Generators in Modular Robots

Christensen, D. J., Spröwitz, A., Ijspeert, A. J.

In From Animals to Animats 11, 6226, pages: 402-412, Lecture Notes in Computer Science, Springer, Berlin, 2010, author: Doncieux, Stéphan (incollection)

Abstract
In this paper we study distributed online learning of locomotion gaits for modular robots. The learning is based on a stochastic ap- proximation method, SPSA, which optimizes the parameters of coupled oscillators used to generate periodic actuation patterns. The strategy is implemented in a distributed fashion, based on a globally shared reward signal, but otherwise utilizing local communication only. In a physics-based simulation of modular Roombots robots we experiment with online learn- ing of gaits and study the effects of: module failures, different robot morphologies, and rough terrains. The experiments demonstrate fast online learning, typically 5-30 min. for convergence to high performing gaits (≈ 30 cm/sec), despite high numbers of open parameters (45-54). We conclude that the proposed approach is efficient, effective and a promising candidate for online learning on many other robotic platforms.

dlg

DOI [BibTex]

DOI [BibTex]


no image
Dynamics of nanoscopic capillary waves

Mecke, K., Falk, K., Rauscher, M.

In Nonlinear Dynamics of Nanosystems, pages: 121-142, Wiley-VCH, Berlin, 2010 (incollection)

icm

DOI [BibTex]

DOI [BibTex]


no image
Critical Casimir interaction between a cylindrical particle and a chemically structured substrate

Labbe-Laurent, M.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

icm

[BibTex]

[BibTex]


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

Pouya, S., van den Kieboom, J., Spröwitz, A., Ijspeert, A. J.

In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages: 514-520, IEEE, Taipei, 2010 (inproceedings)

Abstract
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 degrees of freedom. In this paper, we present a framework that allows one to explore and identify highly different gaits for a given arbitrary- shaped modular robot. We use simulated robots made of several Roombots modules that have three rotational joints each. These modules have the interesting feature that they can produce both oscillatory movements (i.e. periodic movements around a rest position) and rotational movements (i.e. with continuously increasing angle), leading to very rich locomotion patterns. Here we ask ourselves which types of movements —purely oscillatory, purely rotational, or a combination of both— lead to the fastest gaits. To address this question we designed a control architecture based on a distributed system of coupled phase oscillators that can produce synchronized rotations and oscillations in many degrees of freedom. We also designed a specific optimization algorithm that can automatically design hybrid controllers, i.e. controllers that use oscillations in some joints and rotations in others, for fast gaits. The proposed framework is verified by multiple simulations for several robot morphologies. The results show that (i) the question whether it is better to oscillate or to rotate depends on the morphology of the robot, and that in general it is best to do both, (ii) the optimization framework can successfully generate hybrid controllers that outperform purely oscillatory and purely rotational ones, and (iii) the resulting gaits are fast, innovative, and would have been hard to design by hand.

dlg

DOI [BibTex]

DOI [BibTex]


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

Spröwitz, A.

EPFL, Lausanne, Lausanne, 2010 (phdthesis)

dlg

DOI [BibTex]


no image
Capillary interactions between colloidal particles at curved fluid interfaces

Guzowski, J.

Universität Stuttgart, Stuttgart, 2010 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
Goal-Oriented Control of Self-Organizing Behavior in Autonomous Robots

Martius, G.

Georg-August-Universität Göttingen, 2010 (phdthesis)

al

link (url) [BibTex]


no image
Taming the Beast: Guided Self-organization of Behavior in Autonomous Robots

Martius, G., Herrmann, J. M.

In From Animals to Animats 11, 6226, pages: 50-61, LNCS, Springer, 2010 (incollection)

al

link (url) DOI [BibTex]

link (url) DOI [BibTex]

2007


no image
Inhomogeneous platelets and rod fluids

Harnau, L., Dietrich, S.

In Soft Matter, Vol. 3, pages: 156-311, Wiley-VCH, Weinheim, 2007 (incollection)

icm

[BibTex]

2007


[BibTex]


An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots
An easy to use bluetooth scatternet protocol for fast data exchange in wireless sensor networks and autonomous robots

Mockel, R., Spröwitz, A., Maye, J., Ijspeert, A. J.

In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages: 2801-2806, IEEE, San Diego, CA, 2007 (inproceedings)

Abstract
We present a Bluetooth scatternet protocol (SNP) that provides the user with a serial link to all connected members in a transparent wireless Bluetooth network. By using only local decision making we can reduce the overhead of our scatternet protocol dramatically. We show how our SNP software layer simplifies a variety of tasks like the synchronization of central pattern generator controllers for actuators, collecting sensory data and building modular robot structures. The whole Bluetooth software stack including our new scatternet layer is implemented on a single Bluetooth and memory chip. To verify and characterize the SNP we provide data from experiments using real hardware instead of software simulation. This gives a realistic overview of the scatternet performance showing higher order effects that are difficult to be simulated correctly and guaranties the correct function of the SNP in real world applications.

dlg

DOI [BibTex]

DOI [BibTex]


no image
Phase behavior and effective interactions in colloidal suspensions

Grodon, C.

Universität Stuttgart, Stuttgart, 2007 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
The effect of capillary forces on adhesion of biological and artificial attachment devices

De Souza, E. J.

Universität Stuttgart, Stuttgart, 2007 (phdthesis)

icm

link (url) [BibTex]

link (url) [BibTex]


no image
Brownian dynamics in near surface flows

Almenar Egea, L.

Universität Stuttgart, Stuttgart, 2007 (mastersthesis)

icm

[BibTex]

[BibTex]


no image
Single lamella crystals of polyethylene accessible by catalytic emulsion-polymerization

Weber, C. H. M., Chiche, A., Krausch, G., Rosenfeldt, S., Ballauff, M., Goettker-Schnetmann, I., Tong, Q., Mecking, S., Harnau, L.

In Polymeric Materials: Science \& Engineering, 97, pages: 133-134, 2007 (inproceedings)

icm

[BibTex]

[BibTex]


no image
Guided Self-organisation for Autonomous Robot Development

Martius, G., Herrmann, J. M., Der, R.

In Advances in Artificial Life 9th European Conference, ECAL 2007, 4648, pages: 766-775, LNCS, Springer, 2007 (inproceedings)

al

[BibTex]

[BibTex]