Publications by Kamilo Andres Melo Becerra

Eel-like robot swims more efficiently with increasing joint amplitudes compared to constant joint amplitudes

Auke Ijspeert, Kamilo Andres Melo Becerra, Karen Ann J Mulleners, Alexandros Anastasiadis

This paper is associated with a video winner of a 2023 American Physical Society’s Division of Fluid Dynamics (DFD) Gallery of Fluid Motion Award for work presented at the DFD Gallery of Fluid Motion. ...

American Physical Society (APS)2024

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Karen Ann J Mulleners, Alexandros Anastasiadis, Eric Daniel Tytell

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Nature Research2023

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

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Auke Ijspeert, Robin Thandiackal, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Kyoichi Akiyama

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

AMER ASSOC ADVANCEMENT SCIENCE2021

Performance tradeoffs in anguilliform swimming via viscoelastic modulation

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra

OXFORD UNIV PRESS INC2021

Kinematic and dynamic analysis of the mosquito larvae gait

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Mahmut Selman Sakar

OXFORD UNIV PRESS INC2020

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

Understanding Polypterus Senegalus Walking Locomotion from its Center of Mass Displacements

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra

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

Undulatory swimming control with local exteroceptive sensory feedback

Auke Ijspeert, Robin Thandiackal, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra

OXFORD UNIV PRESS INC2019

Adaptive Compliant Foot Design for Salamander Robots

Auke Ijspeert, Robin Thandiackal, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra

Aquatic stepping gaits in animals arguably display higher speed performance as well as energetic efficiency compared to other gaits using the limbs (i.e walking). This suggest that the foot structure and function contributes at a great extent on the propul ...

IEEE2019

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Kyoichi Akiyama

Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythm ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

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

Fast state-switching of a jamming-based foot

Auke Ijspeert, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Simon Lukas Hauser

2017

Requirements for building an ontology for autonomous robots

Kamilo Andres Melo Becerra, Howard Li

Purpose - IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the ...

Emerald Group Publishing Ltd2016

Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

Kamilo Andres Melo Becerra

This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...

Ieee2016

Where to place cameras on a snake robot: Focus on camera trajectory and motion blur

Auke Ijspeert, Massimo Vespignani, Alexandre Bernardino, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu

Visual information is heavily used in robotics, in particular for SLAM applications. Visual SLAM algorithms depend on robust feature extraction and reliable state estimation. Quality of the visual information highly depends on how that information is captu ...

IEEE2015