Publications

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 Book Special issue on embodied intelligence-understanding animal locomotion and its robotic implementations Manoonponga, P., Badri-Spröwitz, A., Owaki, D. Advanced Robotics, 39:1-2, Taylor & Francis and RSJ, Milton, January 2025 (Published) DOI URL BibTeX

Dynamic Locomotion Conference Paper Bird-inspired tendon coupling improves paddling efficiency by shortening phase transition times Lin, J., Zhao, G., Badri-Spröwitz, A. Proceedings of ICRA 2025, :6, arxiv, NY, ICRA, 2025, Accepted (Accepted) DOI URL BibTeX

Dynamic Locomotion Patent Advanced mechanism for segmented robotic legs Sarvestani, A., Badri-Spröwitz, A. February 2024 (Published) BibTeX

Dynamic Locomotion Conference Paper Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain Chatterjee, A., Mo, A., Kiss, B., Goenen, E. C., Badri-Spröwitz, A. 2023 IEEE International Conference on Robotics and Automation (ICRA 2023), :1162-1169 , IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA), June 2023 (Published) Youtube Edmond CAD 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Dynamic Locomotion Unpublished An Open-Source Modular Treadmill for Dynamic Force Measurement with Load Dependant Range Adjustment Sarvestani, A., Ruppert, F., Badri-Spröwitz, A. 2023, Submitted (Submitted) arXiv 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 Conference Paper Upside down: affordable high-performance motion platform Pradhan, N. M. S., Frank, P., Mo, A., Badri-Spröwitz, A. Proceedings: ISR Europe 2023, :412-418, VDE, Stuttgart, ISR Europe 2023 - 56th International Symposium on Robotics, 2023 (Published) youtube github arxiv 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 Ph.D. Thesis Mechanical Design, Development and Testing of Bioinspired Legged Robots for Dynamic Locomotion Sarvestani, L. A. Eberhard Karls Universität Tübingen, Tübingen , November 2022 () DOI BibTeX

Dynamic Locomotion Conference Paper Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping Bolignari, M., Mo, A., Fontana, M., Badri-Spröwitz, A. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :22449927, IEEE, New York City, IROS, October 2022 (Published) DOI URL BibTeX

Dynamic Locomotion Conference Paper Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot Kiss, B., Gonen, E. C., Mo, A., Buchmann, A., Renjewski, D., Badri-Spröwitz, A. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), :5202-5209, IEEE, New York City, IROS, October 2022 (Published) Data-cad-code VideoYT pdf DOI URL BibTeX

Dynamic Locomotion Conference Paper Power to the springs: Passive elements are sufficient to drive push-off in human walking Buchmann, A., Kiss, B., Badri-Spröwitz, A., Renjewski, D. In Robotics in Natural Settings , :21-32, Lecture Notes in Networks and Systems, 530, (Editors: Cascalho, José M. and Tokhi, Mohammad Osman and Silva, Manuel F. and Mendes, Armando and Goher, Khaled and Funk, Matthias), Springer, Cham, 25th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machine (CLAWAR 2022), August 2022 (Published) DOI URL BibTeX

Dynamic Locomotion Miscellaneous Data of: Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot Kiss, B., Gonen, E. C., Mo, A., Buchmann, A., Renjewski, D., Badri-Spröwitz, A. July 2022 (Published) DOI 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 Technical Report Learning Plastic Matching of Robot Dynamics in Closed-Loop Central Pattern Generators: Data Ruppert, F., Badri-Spröwitz, A. Edmond, May 2022 (Published) 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 Physical Intelligence Technical Report Data for BirdBot Achieves Energy-Efﬁcient Gait with Minimal Control Using Avian-Inspired Leg Clutching Badri-Spröwitz, A., Sarvestani, A. A., Sitti, M., Daley, M. A. Edmond, March 2022 () DOI BibTeX

Dynamic Locomotion Conference Paper Functional Analysis of the Swing Leg Catapult in Human Walking Buchmann, A., Kiss, B., Renjewski, D., Badri-Spröwitz, A. February 2022 (Published) 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 Ph.D. Thesis Control Mechanisms for Postural Stability and Trunk Motion in Bipedal Running. A Numerical Study for Humans, Avians, and Bipedal Robots Drama, Ö. Universität Stuttgart, Stuttgart, May 2021 () DOI BibTeX

Dynamic Locomotion Intelligent Control Systems Conference Paper A little damping goes a long way Heim, S., Millard, M., Mouel, C. L., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E367-E367, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021) , March 2021 (Published) DOI URL BibTeX

Dynamic Locomotion Conference Paper Viscous damping in legged locomotion Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E1203-E1204, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), March 2021 () DOI URL BibTeX

Dynamic Locomotion Conference Paper Associating functional morphology of the lumbosacral organ and locomotion modalities in avians Kamska, V., Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E437-E437, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 () DOI URL BibTeX

Dynamic Locomotion Conference Paper Developing a mechanical model for intraspinal mechanosensing in avians Mo, A., Kamska, V., Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology , 61(Supplement 1):E618-E619, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 () DOI URL BibTeX

Dynamic Locomotion Conference Paper Effects of tendon-network mechanisms on avian terrestrial locomotion Contreras, F. B., Daley, M., Badri-Spröwitz, A. In Integrative and Comparative Biology, 61(Supplement 1):E89-E90, Oxford University Press, Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2021), January 2021 () DOI URL BibTeX

Dynamic Locomotion Conference Paper Tackling sensorimotor delays and low control update frequencies during drop impacts with hybrid parallel leg compliance Ashtiani, M. S., Sarvestani, A. A., Badri-Spröwitz, A. The 9.5th international symposium on Adaptive Motion of Animals and Machines. Ottawa，Canada (Virtual Platform). 2021-06-22/25. Adaptive Motion of Animals and Machines Organizing Committee., :3, Adaptive Motion of Animals and Machines Organizing Committee, Adaptive Motion of Animals and Machines, 2021 (Published) AMAM2021 DOI 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 Conference Paper Simulating the response of a neuro-musculoskeletal model to assistive forces: implications for the design of wearables compensating for motor control deficits Stollenmaier, K., Rist, I., Izzi, F., Haeufle, D. F. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob 2020), :779-784, IEEE, Piscataway, NJ, 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob 2020), October 2020 (Published) 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 Poster Towards Hybrid Active and Passive Compliant Mechanisms in Legged Robots Milad Shafiee Ashtiani, A. A. S., Badri-Sproewitz, A. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, October 2020, Accepted (Accepted) Abstract Poster 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 Talk Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics Heim, S., Badri-Spröwitz, A. May 2020 () Presentation BibTeX

Dynamic Locomotion Conference Paper FootTile: a Rugged Foot Sensor for Force and Center of Pressure Sensing in Soft Terrain Ruppert, F., Badri-Spröwitz, A. In 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), :4810-4816, IEEE, Piscataway, NJ, IEEE International Conference on Robotics and Automation (ICRA 2020) , 2020 (Published) Youtube1 Youtube2 Presentation DOI URL BibTeX

Dynamic Locomotion Poster How Quadrupeds Benefit from Lower Leg Passive Elasticity Ruppert, F., Badri-Spröwitz, A. Dynamic Walking, May 2020 () Abstract Poster URL BibTeX

Dynamic Locomotion Poster VP above or below? A new perspective on the story of the virtual point Drama, Ö., Badri-Spröwitz, A. Dynamic Walking, May 2020 () Poster Abstract URL BibTeX

Dynamic Locomotion Poster Viscous Damping in Legged Locomotion Mo, A., Izzi, F., Haeufle, D. F. B., Badri-Spröwitz, A. Dynamic Walking, May 2020 () Abstract Poster 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 Ph.D. Thesis Viability in State-Action Space. Connecting Morphology, Control, and Learning Heim, S. Eberhard Karls Universität Tübingen, Tübingen, February 2020 () DOI BibTeX

Dynamic Locomotion Poster Potential for elastic soft tissue deformation and mechanosensory function within the lumbosacral spinal canal of birds Kamska, V., Daley, M., Badri-Spröwitz, A. Society for Integrative and Comparative Biology Annual Meeting (SICB Annual Meeting 2020), January 2020 () DOI BibTeX

Dynamic Locomotion Conference Paper Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots Drama, Ö., Badri-Spröwitz, A. Proceedings of 2019 IEEE-RAS 19th International Conference on Humanoid Robots, :531-536, IEEE, Humanoids, October 2019 (Published) 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

Publications

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