Publications by Alexandre Tuleu

Precise tactile stimulation of worker ants by a robotic manipulator reveals that individual responses are density‐ and context‐dependent

Laurent Keller, Alexandre Tuleu, Matthias Rüegg, Mahmut Selman Sakar

2024

Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert

2018

Hardware, software and control design considerations towards low-cost compliant quadruped robots

Quadrupedal robots have been a field of interest the last few years, with many new maturing platforms. Many of these projects have in common the use of state of the art actuation and sensing, and therefore are able to handle difficult locomotion tasks very ...

EPFL2016

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

Auke Ijspeert, Alexandre Tuleu, Peter Eckert, Simon Lukas Hauser

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 ...

Ieee2016

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

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian

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 ...

Frontiers Research Foundation2014

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

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mahdi Khoramshahi

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 ...

2013

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

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani

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 ...

Springer Verlag2013

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

Auke Ijspeert, Alexander Spröwitz, Sébastien Gay, Alexandre Tuleu, Mostafa Ajallooeian

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 ...

2013

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

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian, Massimo Vespignani

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 ...

2013

Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mahdi Khoramshahi

2013

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

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian

: 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 ...

2011