Publications by Auke Ijspeert | EPFL Graph Search

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The paper presents a two-layered system for (1) learning and encoding a periodic signal without any knowledge on its frequency and waveform, and (2) modulating the learned periodic trajectory in response to external events. The system is used to learn peri ...

Diverse locomotor behaviors emerge from the interactions between the spinal central pattern generator (CPG), descending brain signals and sensory feedback. Salamander motor behaviors include swimming, struggling, forward underwater stepping, and forward an ...

Being able to replicate real experiments with computational simulations is a unique opportunity to refine and validate models with experimental data and redesign the experiments based on simulations. However, since it is technically demanding to model all ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Animals have evolved highly effective locomotion capabilities in terrestrial, aerial, and aquatic environments. Over life's history, mass extinctions have wiped out unique animal species with specialized adaptations, leaving paleontologists to reconstruct ...

Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...

Brains evolve within specific sensory and physical environments, yet neuroscience has traditionally focused on studying neural circuits in isolation. Understanding of their function requires integrative brain-body testing in realistic contexts. To investigate the neural and biomechanical mechanisms of sensorimotor transformations, we constructed realistic neuromechanical simulations (simZFish) of the zebrafish optomotor response, a visual stabilization behavior. By computationally reproducing the body mecha

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing ...

Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...

Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear ...

Nonlinear oscillators are widely used in biology, physics and engineering for modeling and control. They are interesting because of their synchronization properties when coupled to other dynamical systems. In this paper, we propose a learning rule for osci ...

In this paper we present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform, which can work online with no additional signal processing or logical operations. The method originates from non-linear dynamica ...

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body-limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of ...

Neural control of movement cannot be fully understood without careful consideration of interactions between the neural and biomechanical components. Recent advancements in mouse molecular genetics allow for the identification and manipulation of constituen ...

An important topic in designing neuroprosthetic devices for animals or patients with spinal cord injury is to find the right brain regions with which to interface the device. In vertebrates, an interesting target could be the reticulospinal (RS) neurons, which play a central role in locomotor control. These brainstem cells convey the locomotor commands to the spinal locomotor circuits that in turn generate the complex patterns of muscle contractions underlying locomotor movements. The RS neurons receive dir

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach emphasizes motor control as a process of self-organization betwe ...

Auke Ijspeert

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On-line learning and modulation of periodic movements with nonlinear dynamical systems

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

Experimental and Computational Study on Motor Control and Recovery After Stroke: Toward a Constructive Loop Between Experimental and Virtual Embodied Neuroscience

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Asymmetric fin shape changes swimming dynamics of ancient marine reptiles' soft robophysical models

Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion

Artificial embodied circuits uncover neural architectures of vertebrate visuomotor behaviors

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Review of control strategies for lower-limb exoskeletons to assist gait

Bio-inspired balance controller for a humanoid robot

Pattern generators with sensory feedback for the control of quadruped locomotion

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

Dynamic hebbian learning in adaptive frequency oscillators

On-line frequency adaptation and movement imitation for rhythmic robotic tasks

Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

A Whole-Body Musculoskeletal Model of the Mouse

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Dynamics systems vs. optimal control a unifying view