Publications by Mehmet Hasan Mutlu

Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu

Elsevier2020

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

Auke Ijspeert, Alessandro Crespi, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser, Jorg Conradt, Ibrahim Youssef Youssef

The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...

2020

Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Mehmet Hasan Mutlu, Simon Lukas Hauser

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we ...

IEEE2020

Kubits: Solid-State Self-Reconfiguration With Programmable Magnets

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

Even though many prototypes of 3D self-reconfiguring modular robots (SRMRs) have been developed in recent years, a demonstration involving 1'000 modules remains a challenge. This is largely due to complex mechanics needed to achieve connection, disconnecti ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Cooperative bridge building by self-reconfigurable modular robotsbased on ants' stigmergic behaviour

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

2019

Learning to walk in arbitrary legged morphologies

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany

2019

Perception, control and planning for (self-)reconfigurable modular robots

Mehmet Hasan Mutlu

Modular robots (MRs) consist of similar modules that can be configured into different shapes. MRs introduce a number of benefits over conventional robots specifically designed for a task. Self-reconfigurable modular robots (SRMRs) are a sub-category of MRs ...

EPFL2019

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser, Hala Khodr

Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Searchbased approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in ...

2019

Effects of passive and active joint compliance in quadrupedal locomotion

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu

Compliance of the body has a crucial role on locomotion performance. The levels and the distribution of compliance should be well tuned to obtain efficient gait. The leg stiffness changes significantly even during different phases of a single gait cycle. T ...

TAYLOR & FRANCIS LTD2018

Compliant universal grippers as adaptive feet in legged robots

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

2018

Playdough to Roombots: Towards a Novel Tangible User Interface for Self-reconfigurable Modular Robots

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system "Roombots", these shapes can be quite arbitrary for a great variety of tasks whil ...

IEEE COMPUTER SOC2018

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

Auke Ijspeert, Frédéric Freundler, Mehmet Hasan Mutlu, Simon Lukas Hauser

Jamming of granular media has been shown to possess the property of stiffness variation, transitioning from a soft to a quasi-solid state depending on the packing density of the granules. Recently, a gradual stiffness change for bending has been reported b ...

IEEE COMPUTER SOC2018

Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of roombots modules

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

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

Fast state-switching of a jamming-based foot

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

2017

Natural user interface for lighting control: Case study on desktop lighting using modular robots

Auke Ijspeert, Stéphane Bonardi, Massimo Vespignani, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

Roombots (RB) are self-reconfigurable modular robots designed to explore physical structure change by robotic reconfiguration and adaptive locomotion on structured grid environment or unstructured environment. The primary goal of RB is to create adaptive f ...

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

Compliant snake robot locomotion on horizontal pipes

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

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

2015