Publications by Tomislav Horvat

Animal robots in the African wilderness: Lessons learned and outlook for field robotics

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one designed to mimic a crocodile and another designed to mimic a monitor lizard, along the banks of the Nile River in Uganda, Africa. These robots were developed uniquely fo ...

Amer Assoc Advancement Science2023

Towards rich motion skills with the lightweight quadruped robot Serval

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

SAGE PUBLICATIONS LTD2020

Reverse-engineering the locomotion of a stem amniote

Auke Ijspeert, Konstantinos Karakasiliotis, Tomislav Horvat, Kamilo Andres Melo Becerra

Reconstructing the locomotion of extinct vertebrates offers insights into their palaeobiology and helps to conceptualize major transitions in vertebrate evolution. However, estimating the locomotor behaviour of a fossil species remains a challenge because ...

2019

The current state and future outlook of rescue robotics

Dario Floreano, Roland Siegwart, Auke Ijspeert, Davide Scaramuzza, Stefano Mintchev, Tomislav Horvat, Kamilo Andres Melo Becerra, Marco Hutter

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

2019

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

Tomislav Horvat

Sprawling posture robots are characterized by upper limb segments protruding horizontally from the body, resulting in lower body height and wider support on the ground. Combined with an actuated segmented spine and tail, such morphology resembles that of s ...

EPFL2018

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

2018

Challenges in visual and inertial information gathering for a sprawling posture robot

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra, Mahsa Parsapour

We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...

2017

Active stabilization of a stiff quadruped robot using local feedback

Auke Ijspeert, Florin Dzeladini, Tomislav Horvat, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Simon Lukas Hauser, Rui Vasconcelos

2017

Model predictive control based framework for CoM control of a quadruped robot

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

2017

Spine Controller for a Sprawling Posture Robot

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

2017

Unraveling the weak hydrogen bonds of ethynylpyridines and ethynylbenzene with trimethylphosphate - A combined FT-Raman spectroscopic and quantum-chemical study

Tomislav Horvat

The interplay of secondary hydrogen bonds of 2- and 3-ethynylpyridine or ethynylbenzene with trimethylphosphate in tetrachloroethene was elucidated using FT-Raman spectroscopy and MP2/6-311 + G(d,p) calculations. The direct participation of C C moiety in t ...

Elsevier Science Bv2016

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Auke Ijspeert, Konstantinos Karakasiliotis, Robin Thandiackal, Tomislav Horvat, Laura Deanne Fleury, Kamilo Andres Melo Becerra

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

Inhibition of DNA Methylation Alters Chromatin Organization, Nuclear Positioning and Activity of 45S rDNA Loci in Cycling Cells of Q. robur

Zeljka Maglica, Tomislav Horvat

Around 2200 copies of genes encoding ribosomal RNA (rRNA) in pedunculate oak, Quercus robur, are organized into two rDNA loci, the major (NOR-1) and the minor (NOR-2) locus. We present the first cytogenetic evidence indicating that the NOR-1 represents the ...

Public Library of Science2014