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Emperical Interference

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Modern Magnetic Systems

Perceiving Systems

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Autonomous Vision

Autonomous Learning

Bioinspired Autonomous Miniature Robots

Dynamic Locomotion

Embodied Vision

Human Aspects of Machine Learning

Intelligent Control Systems

Learning and Dynamical Systems

Locomotion in Biorobotic and Somatic Systems

Micro, Nano, and Molecular Systems

Movement Generation and Control

Neural Capture and Synthesis

Physics for Inference and Optimization

Organizational Leadership and Diversity

Probabilistic Learning Group

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Robot Learning

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2022

Autonomous Learning

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Dynamic Locomotion Article How knee muscles and ground reaction forces shape knee buckling and ankle push-off in neuromuscular simulations of human walking Buchmann, A., Kiss, B., Badri-Spröwitz, A., Renjewski, D. Scientific Reports, 15:2249, January 2025 (Published) DOI URL BibTeX
Dynamic Locomotion Article Virtual pivot point in human walking: always experimentally observed but simulations suggest it may not be necessary for stability Schreff, L., Haeufle, D. F. B., Badri-Spröwitz, A., Vielemeyer, J., Müller, R. Journal of Biomechanics, 153, May 2023 (Published) arXiv DOI URL BibTeX
Dynamic Locomotion Article Muscle prestimulation tunes velocity preflex in simulated perturbed hopping Izzi, F., Mo, A., Schmitt, S., Badri-Spröwitz, A., Häufle, D. Scientific Reports, 13:4559, Nature Publishing Group, March 2023 (Published) DOI URL BibTeX
Dynamic Locomotion Article Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion Mo, A., Izzi, F., Gönen, E. C., Häufle, D., Badri-Spröwitz, A. Scientific Reports, 13:3290, Nature Publishing Group, February 2023 (Published) arxiv Video Journal URL CAD and data DOI URL BibTeX
Dynamic Locomotion Article Muscle Preflex Response to Perturbations in locomotion: In-vitro experiments and simulations with realistic boundary conditions Araz, M., Weidner, S., Izzi, F., Badri-Spröwitz, A., Siebert, T., Haeufle, A. D. F. B. Frontiers in Bioengineering and Biotechnology, 11, 2023 (Published) DOI URL BibTeX
Dynamic Locomotion Article Physically Modelling Fluid- and Soft-tissue Mechanics of Lumbosacral Intraspinal Mechanosensing in Avians Mo, A., Kamska, V., Bribiesca-Contreras, F., Hauptmann, J., Daley, M., Badri-Spröwitz, A. arxiv, December 2022, Submitted (Submitted) URL BibTeX
Dynamic Locomotion Article Learning plastic matching of robot dynamics in closed-loop central pattern generators Ruppert, F., Badri-Spröwitz, A. Nature Machine Intelligence, 4(7):652-660, July 2022 (Published) Youtube Edmond data DOI URL BibTeX
Dynamic Locomotion Article A Novel Spider-Inspired Rotary-Rolling Diaphragm Actuator with Linear Torque Characteristic and High Mechanical Efficiency Hepp, J., Badri-Spröwitz, A. Soft Robotics, 9(2):364-375, Mary Ann Liebert, Inc., April 2022 (Published) YouTube DOI URL BibTeX
Dynamic Locomotion Physical Intelligence Article BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching Badri-Spröwitz, A., Sarvestani, A. A., Sitti, M., Daley, M. A. Science Robotics, 7(64):eabg4055, March 2022 (Published) Edmond Free-access referral link Youtube video 01 Youtube video 02 DOI URL BibTeX
Dynamic Locomotion Article Hybrid Parallel Compliance Allows Robots to Operate With Sensorimotor Delays and Low Control Frequencies Milad Shafiee Ashtiani, , Alborz Aghamaleki Sarvestani, , Badri-Spröwitz, A. Frontiers in Robotics and AI, 8(na):645748, (Editors: Dai Owaki, Tohoku University, Japan), June 2021 (Published) CAD spring-mount DOI URL BibTeX
Dynamic Locomotion Article Virtual Point Control for Step-down Perturbations and Downhill Slopes in Bipedal Running Drama, Ö., Badri-Spröwitz, A. Frontiers in Bioengineering and Biotechnology, 8:586534, Frontiers Media, December 2020 (Published) DOI URL BibTeX
Dynamic Locomotion Article Postural stability in human running with step-down perturbations: an experimental and numerical study Drama, Ö., Vielemeyer, J., Badri-Spröwitz, A., Müller, R. Royal Society Open Science, 7(11):200570, November 2020 (Published) DOI URL BibTeX
Dynamic Locomotion Article 3D Anatomy of the Quail Lumbosacral Spinal Canal—Implications for Putative Mechanosensory Function Kamska, V., Daley, M., Badri-Spröwitz, A. Integrative Organismal Biology, 2(1):obaa037, Oxford University Press, October 2020 (Published) 3d model Youtube DOI BibTeX
Dynamic Locomotion Intelligent Control Systems Article A Learnable Safety Measure Heim, S., Rohr, A. V., Trimpe, S., Badri-Spröwitz, A. Proceedings of the Conference on Robot Learning, 100:627-639, Proceedings of Machine Learning Research, (Editors: Kaelbling, Leslie Pack and Kragic, Danica and Sugiura, Komei), PMLR, Conference on Robot Learning, October 2020 (Published) Arxiv BibTeX
Dynamic Locomotion Intelligent Control Systems Article A little damping goes a long way: a simulation study of how damping influences task-level stability in running Heim, S., Millard, M., Le Mouel, C., Badri-Spröwitz, A. Biology Letters, 16(9):20200467, September 2020 (Published) DOI URL BibTeX
Dynamic Locomotion Article Effective Viscous Damping Enables Morphological Computation in Legged Locomotion Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A. Frontiers in Robotics and AI, 7:110, August 2020 (Published) Youtube DOI URL BibTeX
Dynamic Locomotion Movement Generation and Control Autonomous Motion Empirical Inference Robotics Article An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wüthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., et al. IEEE Robotics and Automation Letters, 5(2):3650-3657, IEEE, April 2020 (Published) Youtube Open Dynamic Robot Initiative DOI URL BibTeX
Dynamic Locomotion Article Trunk pitch oscillations for energy trade-offs in bipedal running birds and robots Drama, Ö., Badri-Spröwitz, A. Bioinspiration & Biomimetics, 15(3):036013, March 2020 (Published) Youtube Video DOI URL BibTeX
Dynamic Locomotion Article Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics Steve Heim, , Spröwitz, A. IEEE Transactions on Robotics (T-RO) , 35(4):939-952, August 2019 (Published) arXiv preprint arXiv:1806.08081 T-RO DOI URL BibTeX
Dynamic Locomotion Article Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg Ruppert, F., Badri-Spröwitz, A. Frontiers in Neurorobotics, 64:13, 13, August 2019 (Published) Frontiers YouTube DOI URL BibTeX
Dynamic Locomotion Article Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs Sproewitz, A., Tuleu, A., Ajallooeian, M., Vespignani, M., Moeckel, R., Eckert, P., D’Haene, M., Degrave, J., Nordmann, A., Schrauwen, B., et al. Frontiers in Robotics and AI, 5(67), June 2018, arXiv: 1803.06259 (Published) c4science repository DOI URL BibTeX
Dynamic Locomotion Article Spinal joint compliance and actuation in a simulated bounding quadruped robot Pouya, S., Khodabakhsh, M., Sproewitz, A., Ijspeert, A. Autonomous Robots, :437–452, Kluwer Academic Publishers, Springer, Dordrecht, New York, NY, February 2017 (Published) DOI URL BibTeX
Dynamic Locomotion Article Exciting Engineered Passive Dynamics in a Bipedal Robot Renjewski, D., Spröwitz, A., Peekema, A., Jones, M., Hurst, J. {IEEE Transactions on Robotics and Automation}, 31(5):1244-1251, IEEE, New York, NY, 2015 (Published) DOI URL BibTeX