Publications by Mostafa Ajallooeian

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

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Auke Ijspeert, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert, Steve Walter Shue Heim

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

Emerald Group Publishing Ltd2016

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

Auke Ijspeert, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert, Steve Walter Shue Heim

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

World Scientific Publ Co Pte Ltd2016

Pattern Generation for Rough Terrain Locomotion with Quadrupedal Robots : Morphed Oscillators & Sensory Feedback

Mostafa Ajallooeian

Animals are able to locomote on rough terrain without any apparent difficulty, but this does not mean that the locomotor system is simple. The locomotor system is actually a complex multi-input multi-output closed-loop control system. This thesis is dedica ...

EPFL2015

Simplifying Control through Active Tail Use

Auke Ijspeert, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert, Steve Walter Shue Heim

Oxford Univ Press Inc2015

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

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

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

Auke Ijspeert, Jesse van den Kieboom, Mostafa Ajallooeian

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, ...

Elsevier Science Bv2013

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

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

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mostafa Ajallooeian

2013

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

Auke Ijspeert, Soha Pouya, Mostafa Ajallooeian

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 ...

2012

Hybrid Evolutionary-Neural Network Approach in Generation of Artificial Accelerograms Using Principal Component Analysis and Wavelet-Packet Transform

Sanaz Saadat, Alireza Shahjouei, Mostafa Ajallooeian

A novel hybrid evolutionary neural network method to generate multiple spectrum-compatible artificial earthquake accelerograms (SCAEAs) is presented. Genetic algorithm is employed to optimize the weight values of networks. In order to improve the training ...

Taylor & Francis2011

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