Alessandro Crespi

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alessandro.crespi@epfl.ch +41 21 693 66 30 https://biorob.epfl.ch/people/crespi

https://orcid.org/0000-0001-9863-5220

EPFL STI IBI-STI BIOROB
MED 1 1025 (Bâtiment MED)
Station 9
1015 Lausanne

+41 21 693 66 30
Office: MED 1 1025
EPFL > STI > IBI-STI > BIOROB

Web site: Web site: https://biorob.epfl.ch/

EPFL STI IBI-STI BIOROB
DLLEL 1 32 (Bâtiment DLL EL)
Station 11
1015 Lausanne

+41 21 693 66 30
Office: DLLEL 1 32
EPFL > STI > DLL-STI > DLL-STI-PROT

vCard
Administrative data

Publications

Infoscience publications

* A smoothed particle hydrodynamics framework for fluid simulation in robotics

E. Angelidis; J. P. Arreguit O'Neill; J. Bender; P. Berggold; Z. Liu et al.

Robotics and Autonomous Systems. 2025. DOI : 10.1016/j.robot.2024.104885.

Detailed record

* Social isolation shortens lifespan through oxidative stress in ants

A. Koto; M. Tamura; P. S. Wong; S. Aburatani; E. Privman et al.

Nature Communications. 2023. DOI : 10.1038/s41467-023-41140-w.

Detailed record

* Two simple movement mechanisms for spatial division of labour in social insects

T. O. Richardson; N. Stroeymeyt; A. Crespi; L. Keller

Nature Communications. 2022. DOI : 10.1038/s41467-022-34706-7.

Detailed record

* Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

J. Knüsel; A. Crespi; J.-M. Cabelguen; A. J. Ijspeert; D. Ryczko

Frontiers in Neurorobotics. 2020. DOI : 10.3389/fnbot.2020.604426.

Detailed record

* A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

I. Youssef; M. Mutlu; B. Bayat; A. Crespi; S. Hauser et al.

IEEE Robotics and Automation Letters. 2020. DOI : 10.1109/LRA.2020.2972839.

Detailed record

* Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

B. Bayat; N. Crasta; A. Crespi; A. M. Pascoal; A. Ijspeert

Current Opinion in Biotechnology. 2017. DOI : 10.1016/j.copbio.2017.01.009.

Detailed record

* Automated computer-based detection of encounter behaviours in groups of honeybees

C. Blut; A. Crespi; D. Mersch; L. Keller; L. Zhao et al.

Scientific Reports. 2017. DOI : 10.1038/s41598-017-17863-4.

Detailed record

* Envirobot: A Bio-Inspired Environmental Monitoring Platform

B. Bayat; A. Crespi; A. Ijspeert

2016. IEEE/OES Conference on Autonomous Underwater Vehicles (AUV), Tokyo, Japan, November 6-9, 2016. p. 381 - 386. DOI : 10.1109/AUV.2016.7778700.

Detailed record

* Flexibility of the axial central pattern generator network for locomotion in the salamander

D. Ryczko; J. Knüsel; A. Crespi; S. Lamarque; A. Mathou et al.

Journal of Neurophysiology. 2015. DOI : 10.1152/jn.00894.2014.

Detailed record

* Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

A. Crespi; K. Karakasiliotis; A. Guignard; A. J. Ijspeert

IEEE Transactions on Robotics. 2013. DOI : 10.1109/TRO.2012.2234311.

Detailed record

* Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

J. Knuesel; K. Karakasiliotis; A. Crespi; D. Ryczko; J.-M. Cabelguen et al.

2013. Annual Meeting of the Society for Integrative and Comparative Biology (SICB).

Detailed record

* Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

D. P. Mersch; A. Crespi; L. Keller

Science. 2013. DOI : 10.1126/science.1234316.

Detailed record

* Assistance using adaptive oscillators: Robustness to errors in the identification of the limb parameters

M. D. Rinderknecht; F. A. Delaloye; A. Crespi; R. Ronsse; A. J. Ijspeert

2011. IEEE International Conference on Rehabilitation Robotics (ICORR)/International Neurorehabilitation Symposium (INRS)/International Conference on Virtual Rehabilitation (ICVR), Zurich, SWITZERLAND, Jun 27-Jul 01, 2011. DOI : 10.1109/ICORR.2011.5975351.

Detailed record

* Salamandra robotica: A Biologically Inspired Amphibious Robot that Swims and Walks

A. Crespi; A. J. Ijspeert

Artificial Life Models in Hardware; Springer, 2009. p. 35 - 64.

Detailed record

* Online optimization of swimming and crawling in an amphibious snake robot

A. Crespi; A. J. Ijspeert

IEEE Transactions on Robotics and Automation. 2008. DOI : 10.1109/TRO.2008.915426.

Detailed record

* Controlling swimming and crawling in a fish robot using a central pattern generator

A. Crespi; D. Lachat; A. Pasquier; A. J. Ijspeert

Autonomous Robots. 2008. DOI : 10.1007/s10514-007-9071-6.

Detailed record

* Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

A. J. Ijspeert; A. Crespi

2007. IEEE International Conference on Robotics and Automation, Rome, Italy, Apr 10-14, 2007. p. 262 - 268. DOI : 10.1109/ROBOT.2007.363797.

Detailed record

* Design and control of amphibious robots with multiple degrees of freedom

A. Crespi

Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3786.

Detailed record

* From swimming to walking with a salamander robot driven by a spinal cord model

A. J. Ijspeert; A. Crespi; D. Ryczko; J.-M. Cabelguen

Science. 2007. DOI : 10.1126/science.1138353.

Detailed record

* BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator

D. Lachat; A. Crespi; A. J. Ijspeert

2006. p. 643 - 648. DOI : 10.1109/BIOROB.2006.1639162.

Detailed record

* AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

A. Crespi; A. J. Ijspeert

2006. p. 19 - 27.

Detailed record

* Swimming and Crawling with an Amphibious Snake Robot

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert

2005. p. 3024 - 3028. DOI : 10.1109/ROBOT.2005.1570574.

Detailed record

* Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots

A. Ijspeert; A. Crespi; J. Cabelguen

Neuroinformatics. 2005. DOI : 10.1385/NI:3:3:171.

Detailed record

* AmphiBot I: An amphibious snake-like robot

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert

Robotics and Autonomous Systems. 2005. DOI : 10.1016/j.robot.2004.09.015.

Detailed record

* Institute Presentation: Biologically Inspired Robotics Group at EPFL

A. Ijspeert; J. Buchli; A. Crespi; L. Righetti; Y. Bourquin

International Journal of Advanced Robotics Systems. 2005.

Detailed record

* An amphibious robot capable of snake and lamprey-like locomotion

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert

2004.

Detailed record

Infoscience

A smoothed particle hydrodynamics framework for fluid simulation in robotics

E. Angelidis; J. P. Arreguit O'Neill; J. Bender; P. Berggold; Z. Liu et al.

Robotics and Autonomous Systems. 2025. DOI : 10.1016/j.robot.2024.104885.

Detailed record

Social isolation shortens lifespan through oxidative stress in ants

A. Koto; M. Tamura; P. S. Wong; S. Aburatani; E. Privman et al.

Nature Communications. 2023. DOI : 10.1038/s41467-023-41140-w.

Detailed record

Two simple movement mechanisms for spatial division of labour in social insects

T. O. Richardson; N. Stroeymeyt; A. Crespi; L. Keller

Nature Communications. 2022. DOI : 10.1038/s41467-022-34706-7.

Detailed record

Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

J. Knüsel; A. Crespi; J.-M. Cabelguen; A. J. Ijspeert; D. Ryczko

Frontiers in Neurorobotics. 2020. DOI : 10.3389/fnbot.2020.604426.

Detailed record

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

I. Youssef; M. Mutlu; B. Bayat; A. Crespi; S. Hauser et al.

IEEE Robotics and Automation Letters. 2020. DOI : 10.1109/LRA.2020.2972839.

Detailed record

Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

B. Bayat; N. Crasta; A. Crespi; A. M. Pascoal; A. Ijspeert

Current Opinion in Biotechnology. 2017. DOI : 10.1016/j.copbio.2017.01.009.

Detailed record

Automated computer-based detection of encounter behaviours in groups of honeybees

C. Blut; A. Crespi; D. Mersch; L. Keller; L. Zhao et al.

Scientific Reports. 2017. DOI : 10.1038/s41598-017-17863-4.

Detailed record

Envirobot: A Bio-Inspired Environmental Monitoring Platform

B. Bayat; A. Crespi; A. Ijspeert

2016. IEEE/OES Conference on Autonomous Underwater Vehicles (AUV), Tokyo, Japan, November 6-9, 2016. p. 381 - 386. DOI : 10.1109/AUV.2016.7778700.

Detailed record

Flexibility of the axial central pattern generator network for locomotion in the salamander

D. Ryczko; J. Knüsel; A. Crespi; S. Lamarque; A. Mathou et al.

Journal of Neurophysiology. 2015. DOI : 10.1152/jn.00894.2014.

Detailed record

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

A. Crespi; K. Karakasiliotis; A. Guignard; A. J. Ijspeert

IEEE Transactions on Robotics. 2013. DOI : 10.1109/TRO.2012.2234311.

Detailed record

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

J. Knuesel; K. Karakasiliotis; A. Crespi; D. Ryczko; J.-M. Cabelguen et al.

2013. Annual Meeting of the Society for Integrative and Comparative Biology (SICB).

Detailed record

Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

D. P. Mersch; A. Crespi; L. Keller

Science. 2013. DOI : 10.1126/science.1234316.

Detailed record

Assistance using adaptive oscillators: Robustness to errors in the identification of the limb parameters

M. D. Rinderknecht; F. A. Delaloye; A. Crespi; R. Ronsse; A. J. Ijspeert

Detailed record

Salamandra robotica: A Biologically Inspired Amphibious Robot that Swims and Walks

A. Crespi; A. J. Ijspeert

Artificial Life Models in Hardware; Springer, 2009. p. 35 - 64.

Detailed record

Online optimization of swimming and crawling in an amphibious snake robot

A. Crespi; A. J. Ijspeert

IEEE Transactions on Robotics and Automation. 2008. DOI : 10.1109/TRO.2008.915426.

Detailed record

Controlling swimming and crawling in a fish robot using a central pattern generator

A. Crespi; D. Lachat; A. Pasquier; A. J. Ijspeert

Autonomous Robots. 2008. DOI : 10.1007/s10514-007-9071-6.

Detailed record

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

A. J. Ijspeert; A. Crespi

2007. IEEE International Conference on Robotics and Automation, Rome, Italy, Apr 10-14, 2007. p. 262 - 268. DOI : 10.1109/ROBOT.2007.363797.

Detailed record

Design and control of amphibious robots with multiple degrees of freedom

A. Crespi / A. J. Ijspeert (Dir.)

Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3786.

Detailed record

From swimming to walking with a salamander robot driven by a spinal cord model

A. J. Ijspeert; A. Crespi; D. Ryczko; J.-M. Cabelguen

Science. 2007. DOI : 10.1126/science.1138353.

Detailed record

BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator

D. Lachat; A. Crespi; A. J. Ijspeert

2006. p. 643 - 648. DOI : 10.1109/BIOROB.2006.1639162.

Detailed record

AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

A. Crespi; A. J. Ijspeert

2006. p. 19 - 27.

Detailed record

Swimming and Crawling with an Amphibious Snake Robot

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert

2005. p. 3024 - 3028. DOI : 10.1109/ROBOT.2005.1570574.

Detailed record

Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots

A. Ijspeert; A. Crespi; J. Cabelguen

Neuroinformatics. 2005. DOI : 10.1385/NI:3:3:171.

Detailed record

AmphiBot I: An amphibious snake-like robot

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert

Robotics and Autonomous Systems. 2005. DOI : 10.1016/j.robot.2004.09.015.

Detailed record

Institute Presentation: Biologically Inspired Robotics Group at EPFL

A. Ijspeert; J. Buchli; A. Crespi; L. Righetti; Y. Bourquin

International Journal of Advanced Robotics Systems. 2005.

Detailed record

An amphibious robot capable of snake and lamprey-like locomotion

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert

2004.

Detailed record

Alessandro Crespi

Publications

Infoscience publications

* A smoothed particle hydrodynamics framework for fluid simulation in robotics

* Social isolation shortens lifespan through oxidative stress in ants

* Two simple movement mechanisms for spatial division of labour in social insects

* Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

* A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

* Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

* Automated computer-based detection of encounter behaviours in groups of honeybees

* Envirobot: A Bio-Inspired Environmental Monitoring Platform

* Flexibility of the axial central pattern generator network for locomotion in the salamander

* Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

* Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

* Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

* Assistance using adaptive oscillators: Robustness to errors in the identification of the limb parameters

* Salamandra robotica: A Biologically Inspired Amphibious Robot that Swims and Walks

* Online optimization of swimming and crawling in an amphibious snake robot

* Controlling swimming and crawling in a fish robot using a central pattern generator

* Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

* Design and control of amphibious robots with multiple degrees of freedom

* From swimming to walking with a salamander robot driven by a spinal cord model

* BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator

* AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

* Swimming and Crawling with an Amphibious Snake Robot

* Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots

* AmphiBot I: An amphibious snake-like robot

* Institute Presentation: Biologically Inspired Robotics Group at EPFL

* An amphibious robot capable of snake and lamprey-like locomotion

Infoscience

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Social isolation shortens lifespan through oxidative stress in ants

Two simple movement mechanisms for spatial division of labour in social insects

Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

Automated computer-based detection of encounter behaviours in groups of honeybees

Envirobot: A Bio-Inspired Environmental Monitoring Platform

Flexibility of the axial central pattern generator network for locomotion in the salamander

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

Assistance using adaptive oscillators: Robustness to errors in the identification of the limb parameters

Salamandra robotica: A Biologically Inspired Amphibious Robot that Swims and Walks

Online optimization of swimming and crawling in an amphibious snake robot

Controlling swimming and crawling in a fish robot using a central pattern generator

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

Design and control of amphibious robots with multiple degrees of freedom

From swimming to walking with a salamander robot driven by a spinal cord model

BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator

AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

Swimming and Crawling with an Amphibious Snake Robot

Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots

AmphiBot I: An amphibious snake-like robot

Institute Presentation: Biologically Inspired Robotics Group at EPFL

An amphibious robot capable of snake and lamprey-like locomotion

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