Research Overview

The research interests of the Bio-Inspired Robotics Lab lie at the intersection of robotics and biology. Through abstraction of the design principles of biological systems, we develop core competences which are the design and control of dynamic mechatronic systems, bionic sensor technologies, and computational optimization techniques. Our main goals are to contribute to a deeper understanding of adaptivity and autonomy of animals through the investigation of dynamic robots, and to engineer novel robotic applications which are more adaptive, maneuverable, resilient, and energy efficient.

Currently our research focus is centered around "dynamics modeling" (mathematical formulations of robots' dynamic behaviors), "design optimization" (development of smart sensors and actuators as well as integrating them into robot platforms), and "control optimization" (sensory-motor control architectures and their learning processes). By understanding the basic design principles of these technological components, we aim to deepen our understanding of self-organization processes of intelligent adaptive behaviors in animals and machines.  

ResearchOverview3

Ongoing Projects

Thermoplastic Adhesives in Robotic Applications

Description: Robotic growth and autonomous morphological change of physical robots are challenging tasks which have not been demonstrated so far. The goal of this project is to move a significant step towards these targets by the use of Hot Melt Adhesives (HMAs), also known as ‘hot glue'. HMAs have several interesting properties for this purpose. Complex elastic or rigid structures can be built from HMA and its adhesion properties can be used for connection mechanisms. Those were already implemented in our HMA manipulator and climbing robots. An overview poster presented at ICORR 2011 research demos Researchers: Liyu Wang, Luzius Brodbeck, Surya G. Nurzaman, Utku Culha Publications: Climbing robots: IROS 2011, ICRA 2012, IROS 2012 (in press); Connection and disconnection control: TMECH; Robotic body extension on-the-fly: ICRA 2012. Video: Assembly, Climbing

Emergence of Reflexive Behavior: a Developmental Approach

Description: Developmental robotics is located at the intersection of developmental sciences and robotics. The main goal of this field of research is to investigate how a creature can develop increasingly complex behaviors autonomously. In this particular project we use self-organization principles to develop reflexive behavior in a simulated leg model. Using the same self-organization principles, we have obtained analogues of the myotatic, the reverse myotatic, the reciprocal inhibition, and the withdrawal reflexes, which have been identified in the mammal spinal chord. Researchers: Hugo Gravato Marques Publications: BioRob2012 in press, SAB2012 in press Video: Reflex Learning and Jumping, Reflex Damping

Legged-Locomotion and Unconventional Actuators

Description: This project aims to develop novel actuator technologies that enable legged robots to be faster and more powerful while exploiting passive mechanical dynamics for energy efficiency. A number of different methods and materials are explored in the development process of legged robots such as carbon fibers, glass fibers, variable stiffness mechanisms, nonlinear springs, brakes and clutches. Researchers: Fabian Günther Derek Leach, Nandan Maheshwari, Amir Jafari. Publications: AMAM 2011, IROS 2012 Video: Open loop Hopping, Double Pendulum

Energy Efficient Locomotion Based on Free Vibration

Description: During free vibration process, potential and kinetic energy are exchanged without energy loss. Based on this property, this project aims to design robots with energetically efficient locomotion. The elastic curved beam is demonstrated to perform well using free vibration in the experiment. Due to different design of structure, multiple locomotion gaits including hopping, walking and running, can be achieved. Furthermore, a number of models and simulation are used to investigate the dynamics of robot, which supplies the theory to explore optimal control methods. Researchers: Murat Reis, Nandan Maheshwari, Xiaoxiang Yu Publications: Poster ICORR 2011, ICMC 2011, AIM 2011, AIM 2012(Accepted), IROS 2012(Accepted) Video: Resonance Vibration, Passive Hopping Curved Beam Hopper, Curved Beam Walker_Hopper, Curved Beam Runner Multi-Gaited Robot: simulation, experiment Mini Hopper, Mini Runner

Previous Projects

MR ESS (Energetically Self Sufficient)

Autonomous mobile robots must be able to deal with the various uncertainties that emerge from the interaction with the real world. Thus the estimation of unmeasurable state variables from measurable ones, is a required cognitive process that permits adaptive robots to successfully overcome the various challenging problems derived. This project aims at finding the binding between the physical and the mental simulation dynamics. Was named mental simulation the from us developed computational strategy. Researchers: Liyu Wang Video: Q Learning, 'Mental Simulation'

Simulation of Multi-Mode Linear Actuator (MMLA)

Legged locomotion on rough terrain is a demanding task which requires both the mechanical design and the control of a system to be versatile and adaptive. Based on a prototype of a Multi-Mode Linear Actuator (MMLA), this project aims at developing a model-based predictive control algorithm which enables the MMLA to cope with different ground references such as stairs, hurdles and pitfalls. [Video]

Self-Sufficient Legged Robot in Uncertain Environment

Previous projects on self-sufficient mobile robots have shown that dealing with uncertainties of the real world is a challenging problem. This project focuses on efficient approaches applicable in real world scenarios with the objective of finding practical behavior to cope with uncertainties where classical approaches such as simulations fail. In a first step a simple self-modeling approach has been used to find gait patterns for forward locomotion and rotation. Augmentation of two cheap sensors - a proximity and beacon sensor - have shown satisfactory navigation behavior towards the charging station in a simple environment. Videos Learning: [low | high] Navigation: [low]

Compass Gait Robot Locomotion in Rough Terrain

The challenge of this project is to develop a controller with which the compass gait robot can walk through a series of steps and gaps on the ground. [video] (Massachusetts Institute of Technology, USA)

Optimization of Motor Control in Underactuated Legged Locomotion

This project investigates mechanical designs and optimization processes of legged robot systems, which can traverse rough terrains. [video] (Massachusetts Institute of Technology, USA)

Human-like biped locomotion

This project explores the underlying mechanisms of human locomotion by using a biped robot with compliant legs. [video] (University of Jena, Germany) (Funded by the German Research Foundation (DFG, SE1042))

Sensing through body dynamics

The use of body dynamics can be used for the perception of sensory systems. We challenging how the perception, control, and body dynamics are related each other [video] (University of Zurich, Switzerland) (Funded by the Swiss National Science Foundation, Grant No. 200021-109210/1)

"Cheap" underwater locomotion

Material properties of body influence significantly underwater for the purpose of locomotion. In this project, we investigate how much behavioral diversity can be achieved through the minimum control and actuation. [video] (University of Zurich, Switzerland) (Funded by the Swiss National Science Foundation, Grant No. 200021-109210/1)

Puppy: Cheap rapid legged locomotion

This project investigates musculoskeletal models for rapid four-legged locomotion. The coordination of rigid and elastic structures results in a form of running behavior with simple control architecture. [video] (University of Zurich, Switzerland) (Funded by the Swiss National Science Foundation, Grant No. 200021-109210/1)

Stumpy: Pendulum driven hopping machines

By considering morphological properties, we show that human-like behavioral diversity can be achieved only with simple control and actuation. [video] (University of Zurich, Switzerland)

Biological inspired 3D visual navigation

Bees have sophisticated visual sensory systems for the purpose of navigation. By using an omni-directional vision which reproduces the perspective of animals, we attempt to model the cognitive function which enables the learning process of navigation. (University of Zurich, Switzerland) (Funded by the Swiss National Science Foundation, Grant No 2000-061372.00)

Active non-verbal interaction of Face Robot

Face Robot is capable of exhibiting a variety of facial expression by using the artificial muscles. We investigate how the non-verbal communication between human and machine can be possible through facial expression. (Science University of Tokyo, Japan)