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2016


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Diffusion im Zentrifugalpotential

Totikos, Vangelis

Universität Stuttgart, Stuttgart, 2016 (mastersthesis)

icm

[BibTex]

2016


[BibTex]


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On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A.

In ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, pages: 256-264, 2016 (inproceedings)

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[BibTex]

[BibTex]


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Electromagnetic radiation in complex environments: Many body systems and background medium

Müller, Boris

Universität Stuttgart, Stuttgart, 2016 (mastersthesis)

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[BibTex]

[BibTex]


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Theory of enantiomer separation by external fields

Gehrmann, Christian

Universität Stuttgart, Stuttgart, 2016 (mastersthesis)

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[BibTex]

[BibTex]


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General properties of ionic complex fluids

Bier, M.

Universität Stuttgart, Stuttgart, 2016 (phdthesis)

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[BibTex]

[BibTex]


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Wedge wetting by an electrolyte solution

Mu\ssotter, M.

Universität Stuttgart, Stuttgart, 2016 (mastersthesis)

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[BibTex]

[BibTex]

2015


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Fluctuational electrodynamics for nonlinear media

Soo, H.

Universität Stuttgart, Stuttgart, 2015 (mastersthesis)

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[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.

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link (url) DOI Project Page [BibTex]

link (url) DOI Project Page [BibTex]


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Evaporation and growth of liquid drops

Pöhnl, Ruben

Universität Stuttgart, Stuttgart, 2015 (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.

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DOI [BibTex]

2010


DOI [BibTex]


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Dynamics of complex fluids at liquid-solid interfaces

Almenar Egea, L.

Universität Stuttgart, Stuttgart, 2010 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Nanotropfen an Stufen

Maier, D.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

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[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.

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DOI [BibTex]

DOI [BibTex]


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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)

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DOI [BibTex]

DOI [BibTex]


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Untersuchung der kritischen Adsorption an kolloidalen Teilchen mit Hilfe von Streutechniken

Slupina, C.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

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[BibTex]

[BibTex]


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Critical Casimir interaction between a cylindrical particle and a chemically structured substrate

Labbe-Laurent, M.

Universität Stuttgart, Stuttgart, 2010 (mastersthesis)

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[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.

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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)

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DOI [BibTex]


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Capillary interactions between colloidal particles at curved fluid interfaces

Guzowski, J.

Universität Stuttgart, Stuttgart, 2010 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]

2007


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.

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DOI [BibTex]

2007


DOI [BibTex]


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Phase behavior and effective interactions in colloidal suspensions

Grodon, C.

Universität Stuttgart, Stuttgart, 2007 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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The effect of capillary forces on adhesion of biological and artificial attachment devices

De Souza, E. J.

Universität Stuttgart, Stuttgart, 2007 (phdthesis)

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link (url) [BibTex]

link (url) [BibTex]


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Brownian dynamics in near surface flows

Almenar Egea, L.

Universität Stuttgart, Stuttgart, 2007 (mastersthesis)

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[BibTex]

[BibTex]


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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)

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[BibTex]

[BibTex]