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Auke Ijspeert

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Related publications (313)

Robotics and Neuroscience

In the attempt to build adaptive and intelligent machines, roboticists have looked at neuroscience for more than half a century as a source of inspiration for perception and control. More recently, neuroscientists have resorted to robots for testing hypoth ...

Elsevier2014

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi, Massimo Vespignani

The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method t ...

2014

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

Auke Ijspeert, Florin Dzeladini, Etienne Burdet

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 ...

2014

Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

Auke Ijspeert, Soha Pouya, Salman Faraji

IEEE2014

Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons

Auke Ijspeert, Mathieu Porez

The best known analytical model of swimming was originally developed by Lighthill and is known as the large amplitude elongated body theory (LAEBT). Recently, this theory has been improved and adapted to robotics through a series of studies ranging from hy ...

Sage Publications Ltd2014

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Soha Pouya, Salman Faraji

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Biorobotics: Using robots to emulate and investigate agile animal locomotion

Auke Ijspeert

The graceful and agile movements of animals are difficult to analyze and emulate because locomotion is the result of a complex interplay of many components: the central and peripheral nervous systems, the musculoskeletal system, and the environment. The go ...

Amer Assoc Advancement Science2014

Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

Auke Ijspeert

The framework of dynamic movement primitives (DMPs) contains many favorable properties for the execution of robotic trajectories, such as indirect dependence on time, response to perturbations, and the ability to easily modulate the given trajectories, but ...

Ieee-Inst Electrical Electronics Engineers Inc2014

The contribution of a central pattern generator in a reflex-based neuromuscular model

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

Although the concept of central pattern generators (CPGs) controlling locomotion in vertebrates is widely accepted, the presence of specialized CPGs in human locomotion is still a matter of debate. An interesting numerical model developed in the 90s' demon ...

Frontiers Research Foundation2014

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

Frontiers Research Foundation2014

Natural User Interface for Roombots

Auke Ijspeert, Rico Möckel, Stéphane Bonardi, Massimo Vespignani, Ayberk Özgür

Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes ...

IEEE2014

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Stéphane Bonardi, Massimo Vespignani

In this work we provide hands-on experience on designing and testing a self-reconfiguring modular robotic system, Roombots (RB), to be used among others for adaptive furniture. In the long term, we envision that RB can be used to create sets of furniture, ...

Elsevier2014

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

Auke Ijspeert, Konstantinos Karakasiliotis

Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic s ...

Springer Verlag2013

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

Auke Ijspeert, Rico Möckel, Emmanuel Senft, Stéphane Bonardi, Massimo Vespignani

This paper presents the results of a study on the exploitation of compliance in structures made of self-reconfigurable modular robots - Roombots. This research was driven by the following three hypotheses: (1) compliance can improve locomotion performance; ...

Ieee2013

Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Auke Ijspeert, Renaud Ronsse

Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state r ...

Ieee-Inst Electrical Electronics Engineers Inc2013

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

André Guignard, Auke Ijspeert, Alessandro Crespi, Konstantinos Karakasiliotis

In this paper, we present Salamandra robotica II: an amphibious salamander robot that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on the ground. The paper first ...

Ieee-Inst Electrical Electronics Engineers Inc2013

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Auke Ijspeert, Yannick Morel

Motion control of bio-inspired mobile robotic platforms can prove a challenging problem. In particular, models for the considered type of systems may prove nonlinear, uncertain, and fairly complicated. To address these issues, use of an output predictor-ba ...

Amer Soc Mechanical Engineers2013

Meta Morphic Particle Swarm Optimization

Auke Ijspeert, Soha Pouya, Jesse van den Kieboom

Particle Swarm Optimization is a simple and elegant optimization algorithm used to solve a large variety of different real-valued problems. When it comes to solving combinations of continuous and discrete problems however, PSO by itself is not very well su ...

Springer2013

Foreword for the special issue on Lamprey and Salamander Robots and the Central Nervous System

Auke Ijspeert

Springer Berlin Heidelberg2013

Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks

Auke Ijspeert

The framework of dynamic movement primitives allows the generation of discrete and periodic trajectories, which can be modulated in various aspects. We propose and evaluate a novel modulation approach that includes force feedback and thus allows physical i ...

IEEE2013

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