Publications by Auke Ijspeert | EPFL Graph Search

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In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assist ...

Gait recovery after neurological disorders requires remastering the interplay between body mechanics and gravitational forces. Despite the importance of gravity-dependent gait interactions and active participation for promoting this learning, these essenti ...

In robotics, controlling the stiffness of the joints that contribute to the robots’ degree of freedom dictates the adaptability, versatility, and safety of the whole system.We can achieve variable stiffness or impedance in a robotic system purely by the co ...

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to be adaptable to ...

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 ...

This paper is aimed at developing optimal motion planning for a single autonomous surface vehicle (ASV) equipped with an on-board pollutant sensor that will maximize the sensor-related information available for source seeking. The ASV uses a nonlinear diff ...

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 ...

Neuromuscular controllers (NMCs) offer a promising approach to adaptive and task-invariant control of exoskeletons for walking assistance, leveraging the bioinspired models based on the peripheral nervous system. This article expands on our previous develo ...

Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off for transitions ...

The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal prepar ...

Human walking speeds can be influenced by multiple factors, from energetic considerations to the time to reach a destination. Neurological deficits or lower-limb injuries can lead to slower walking speeds, and the recovery of able-bodied gait speed and beh ...

How do four-legged animals adapt their locomotion to the environment? How do central and peripheral mechanisms interact within the spinal cord to produce adaptive locomotion and how is locomotion recovered when spinal circuits are perturbed? Salamanders ar ...

Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythm ...

In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be p ...

The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with ...

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. ...

Aquatic stepping gaits in animals arguably display higher speed performance as well as energetic efficiency compared to other gaits using the limbs (i.e walking). This suggest that the foot structure and function contributes at a great extent on the propul ...

Rehabilitation robotics aims to promote activity-dependent reorganization of the nervous system. However, people with paralysis cannot generate sufficient activity during robot-assisted rehabilitation and, consequently, do not benefit from these therapies. ...

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

Auke Ijspeert

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Oscillator-based assistance of cyclical movements: model-based and model-free approaches

A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury

JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support

Identifying important sensory feedback for learning locomotion skills

Learning Human-Robot Handshaking Preferences for Quadruped Robots

Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

Optimal Search Strategies for Pollutant Source Localization

Biorobotics: Using robots to emulate and investigate agile animal locomotion

Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons

Fast ground-to-air transition with avian-inspired multifunctional legs

The Human Central Pattern Generator for Locomotion: Does It Exist and Contribute to Walking?

Mechanics of very slow human walking

Walking with Salamanders: From Molecules to Biorobotics

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals

iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research

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

Adaptive Compliant Foot Design for Salamander Robots

Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain