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  1. No Access

    Article

    Fault-tolerant gait learning and morphology optimization of a polymorphic walking robot

    This paper presents experiments with a morphology-independent, life-long strategy for online learning of locomotion gaits. The experimental platform is a quadruped robot assembled from the LocoKit modular robo...

    David Johan Christensen, Jørgen Christian Larsen, Kasper Stoy in Evolving Systems (2014)

  2. No Access

    Chapter and Conference Paper

    Playful Interaction with Voice Sensing Modular Robots

    This paper describes a voice sensor, suitable for modular robotic systems, which estimates the energy and fundamental frequency, F 0, of the user’s voice. Through a number of example appli...

    Bjarke Heesche, Ewen MacDonald, Rune Fogh, Moises Pacheco… in Social Robotics (2013)

  3. No Access

    Chapter

    Sensor-Coupled Fractal Gene Regulatory Networks for Locomotion Control of a Modular Snake Robot

    In this paper we study fractal gene regulatory network (FGRN) controllers based on sensory information. The FGRN controllers are evolved to control a snake robot consisting of seven simulated ATRON modules. Ea...

    Payam Zahadat, David Johan Christensen… in Distributed Autonomous Robotic Systems (2013)

  4. No Access

    Article

    Anatomy-based organization of morphology and control in self-reconfigurable modular robots

    In this paper, we address the challenge of realizing full-body behaviors in scalable modular robots. We present an experimental study of a biologically inspired approach to organize the morphology and control ...

    David Johan Christensen, Jason Campbell, Kasper Stoy in Neural Computing and Applications (2010)

  5. No Access

    Chapter and Conference Paper

    Fractal Gene Regulatory Networks for Robust Locomotion Control of Modular Robots

    Designing controllers for modular robots is difficult due to the distributed and dynamic nature of the robots. In this paper fractal gene regulatory networks are evolved to control modular robots in a distribu...

    Payam Zahadat, David Johan Christensen, Ulrik Pagh Schultz… in From Animals to Animats 11 (2010)

  6. No Access

    Chapter and Conference Paper

    Distributed Online Learning of Central Pattern Generators in Modular Robots

    In this paper we study distributed online learning of locomotion gaits for modular robots. The learning is based on a stochastic approximation method, SPSA, which optimizes the parameters of coupled oscillator...

    David Johan Christensen, Alexander Spröwitz… in From Animals to Animats 11 (2010)

  7. No Access

    Chapter

    Exploit Morphology to Simplify Docking of Self-reconfigurable Robots

    In this paper we demonstrate how to dock two self-reconfigurable robots and as a result merge them into one large robot. The novel feature of our approach is that the configuration we choose for our robots all...

    Kasper Stoy, David Johan Christensen… in Distributed Autonomous Robotic Systems 8 (2009)

  8. No Access

    Chapter

    Morphology Independent Learning in Modular Robots

    Hand-coding locomotion controllers for modular robots is difficult due to their polymorphic nature. Instead, we propose to use a simple and distributed reinforcement learning strategy. ATRON modules with ident...

    David Johan Christensen, Mirko Bordignon… in Distributed Autonomous Robotic Systems 8 (2009)