Publications by Auke Ijspeert | EPFL Graph Search

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This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of th ...

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, ...

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint ...

Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...

Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlyin ...

This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to miroengineering students. We present the hardware and software of the robots and describe the pedagogical approach adopted in the practical ...

We present Lynx-robot, a quadruped, modular, compliant robot. It features an either directly actuated, singlejoint spine design, or an actively supported, passive compliant, multi-joint spine configuration. This study aims at characterizing these two, largely different spine concepts, for a bounding gait and a robot with a three-segmented, panthographic leg design. An earlier, similar-sized, bounding, quadruped robot with a two-segment leg design and a directly actuated, singlejoint spine design serves as a

Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, ...

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either through model-bas ...

We are motivated to better understand how adaptive locomotion (rough terrain locomotion, turning, gait transition, etc) can be realized using a quadrupedal platform with constrained resources. These constraints include computational power limitation, no accurate force/torque sensing, and partial sensing of robot’s kinematic states. These constraints arise from the fact that we are designing and experimenting with autonomous light-weight and (comparatively) cheap quadruped robots. The practical benefit of su

Despite their potential, exoskeletons have not reached widespread adoption in daily life, partly due to the challenge of seamlessly adapting assistance across various tasks and environments. Task-specific designs, reliance on complex sensing and extensive ...

Compliance of the body has a crucial role on locomotion performance. The levels and the distribution of compliance should be well tuned to obtain efficient gait. The leg stiffness changes significantly even during different phases of a single gait cycle. T ...

In this study, based on behavioral and neurophysiological facts, a new hierarchical multi-agent architecture is proposed to model the human motor control system. Performance of the proposed structure is investigated by simulating the control of sit to stan ...

Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from ...

Millions of people worldwide live with impaired locomotion. The degree of impairment is highly variable and the causes are multiple. This variation necessitates the design of a new generation of exoskeleton controllers for personalised, symbiotic man-machi ...

This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the posit ...

Humans can perform movements in various physical environments and positions (corresponding to different experienced gravity), requiring the interaction of the musculoskeletal system, the neural system and the external environment. The neural system is itse ...

Auke Ijspeert

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

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

Compliant snake robot locomotion on horizontal pipes

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Biologically inspired kinematic synergies enable linear balance control of a humanoid robot

Friction and damping of a compliant foot based on granular jamming for legged robots

The Dof-Box Project: An Educational Kit for Configurable Robots

Comparing the effect of different spine and leg designs for a small, bounding quadruped robot

Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping

Rich Locomotion Skills with the Oncilla Robot

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion

Effects of passive and active joint compliance in quadrupedal locomotion

MODEM: a multi-agent hierarchical structure to model the human motor control system

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

A Neuromuscular Model for Symbiotic Man-Machine Exoskeleton Control Accounting for Patient Impairment Specificity

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Role and modulation of various spinal pathways for human upper limb control in different gravity conditions