Publications by Auke Ijspeert | EPFL Graph Search

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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, ...

People with late-stage Parkinson's disease (PD) often suffer from debilitating locomotor deficits that are resistant to currently available therapies. To alleviate these deficits, we developed a neuroprosthesis operating in closed loop that targets the dor ...

The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical sy ...

We propose a novel method for movement assistance that is based on adaptive oscillators, i. e., mathematical tools that are capable of extracting the high-level features (amplitude, frequency, and offset) of a periodic signal. Such an oscillator acts like ...

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

In this article, frog gastrocnemius muscles are studied, and a multi-model identification presented. A transfer function is defined with few parameters to simulate striated muscle (Gastroctnemius) behaviour, for inclusion in a future real-time salamander c ...

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion environments. In th ...

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central ...

Background: Efficient gait assistance by augmentative exoskeletons depends on reliable control strategies. While numerous control methods and their effects on the metabolic cost of walking have been explored in the literature, the use of different exoskele ...

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

Exoskeletons intended for partial assistance of walking should be able to follow the gait pattern of their users, via online adaptive control strategies rather than imposing predefined kinetic or kinematic profiles. NeuroMuscular Controllers (NMCs) are ada ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

We present a new framework to generate humanlike lower-limb trajectories in periodic and non-periodic walking. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to simulate falling, swing, and torso ba ...

Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, in the form of central pattern generators. This strategy requires trial and error to identify leg timings, which may not be suitable i ...

The coordination of body and limbs motions contributes to effective propulsion in limed locomotion. However, there is lack of understanding that characterizes the mechanism underlying the body-limb coordination. The aim of this study involves clarifying th ...

Roombots (RB) are self-reconfigurable modular robots designed to explore physical structure change by robotic reconfiguration and adaptive locomotion on structured grid environment or unstructured environment. The primary goal of RB is to create adaptive f ...

We are motivated to build simple controllers for quadruped robots to locomote over unperceived moderately difficult rough terrain at moderately fast speeds. The presented approach here does not need force sensing at feet, and does not need information about the mass properties of the robot like inertia tensors, so it is apt for relatively cheap and lightweight robots. We explore our approach with two dif- ferent simulated robots, one being the simulation of the Oncilla robot which will soon be used for vali

Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting ...

Auke Ijspeert

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

A spinal cord neuroprosthesis for locomotor deficits due to Parkinson's disease

Movement generation using dynamical systems: a humanoid robot performing a drumming task

Human-Robot Synchrony: Flexible Assistance Using Adaptive Oscillators

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Fractional multi-models of the frog gastrocnemius muscle

Adaptive Negative Damping Control for User-Dependent Multi-Terrain Walking Assistance With a Hip Exoskeleton

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance

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

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

The neuromechanics of animal locomotion: From biology to robotics and back

Scalable closed-form trajectories for periodic and non-periodic human-like walking

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

A Simple Body-limb Coordination Model that Mimics Primitive Tetrapod Walking

Natural user interface for lighting control: Case study on desktop lighting using modular robots

Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain

A modular bio-inspired architecture for movement generation for the infant-like robot iCub