Publications by Simon Lukas Hauser

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

IEEE2021

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

Compliance, locomotion and local computation in (self-) reconfigurable modular robots

Simon Lukas Hauser

Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...

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

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

Robotic Invention: Challenges and Perspectives for Model-Free Design Optimization of Dynamic Locomotion Robots

Simon Lukas Hauser

SPRINGER INTERNATIONAL PUBLISHING AG2018

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

JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support

Auke Ijspeert, Jamie Paik, Simon Lukas Hauser, Matthew Aaron Robertson

In robotics, controlling the stiffness of the joints that contribute to the robots’ degree of freedom dictates the adaptability, versatility, and safety of the whole system.We can achieve variable stiffness or impedance in a robotic system purely by the co ...

2017

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

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

Morphological Evolution of Physical Robots through Model-Free Phenotype Development

Simon Lukas Hauser

Artificial evolution of physical systems is a stochastic optimization method in which physical machines are iteratively adapted to a target function. The key for a meaningful design optimization is the capability to build variations of physical machines th ...

2015