Publications by Auke Ijspeert | EPFL Graph Search

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In this article, we present a new linear model (3LP) for bipedal locomotion which can describe swing and torso dynamics as well as falling. Compared to traditional inverted-pendulum based models, 3LP produces more human-like center of mass trajectory and swing motion which is missing in point-mass models. Different periodic gaits can be found with 3LP and modulated online without any numerical integration. Using linearity properties, we derive closed-form solutions and a transition matrix which describe sta

The goal of this article is to identify and understand the fundamental role of spatial symmetries in the emergence of undulatory swimming using an anguilliform robot. Here, the local torque at the joints of the robot is controlled by a chain of oscillators ...

Biped locomotion has been extensively studied using various approaches, including Passive Dynamic Walking, ZMP-based control and biologically inspired muscle models. In biped locomotion robotics, there has been an increasing interest in variable impedance ...

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Leg dynamics and control have been widely studied using mass-spring systems such as the Spring Loaded Inverted Pendulum (SLIP) model [1]. The SLIP model is commonly accepted as the simplest model that resembles leg dynamics. While simplicity facilitates the understanding of the basic aspects of system behavior, it can result in neglecting some essential factors from control perspective such as leg mass, hip actuation and energy dissipation. Neglecting such aspects increases the gap between simulated results

The present invention relates to a propulsion module (1) for generating wave-like motion in liquid. The propulsion module (1) comprises: a motor (7) for generating rotational motion; a set of conversion devices comprising a first conversion device (91) and ...

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 ...

The paper deals with the modeling of a fishlike robot equipped with the electric sense, suited to study sensorimotor loops. The proposed multi-physics model merges a swimming dynamic model of a fish-like robot with an electric model of an embedded electrolocation sensor. Based on a TCP-IP and threaded framework, the resulting simulator works in real time. After presenting the modeling aspects of this work, this article focuses on two numerical studies. In the first, the interactions between body deformation

Hip exoskeletons are increasing in popularity due to their effectiveness across various scenarios and their ability to adapt to different users. However, personalizing the assistance often requires lengthy tuning procedures and computationally intensive algorithms, and most existing methods do not incorporate user feedback. In this work, we propose a novel approach for rapidly learning users' preferences for hip exoskeleton assistance. We perform pairwise comparisons of distinct randomly generated assistive

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

The evolutionary transition from water to land required new locomotor modes and corresponding adjustments of the spinal "central pattern generators" for locomotion. Salamanders resemble the first terrestrial tetrapods and represent a key animal for the stu ...

The paper presents a two-layered system for learning and encoding a periodic signal and its application to a drumming task. The two layers are the dynamical system responsible for extracting the main frequency of the input signal, based on adaptive frequen ...

The influence of robotics in the job market has socio-economic consequences and the inevitable loss of job positions, but in the Human-Robot Interaction (HRI) scenarios, where humans and robots work together, new jobs and business models will be created. T ...

Individuals with motor impairments typically walk at much slower speeds than their unimpaired counter- parts, yet their gait data is still evaluated against the relatively faster gait of healthy subjects. Therefore a good understanding of unimpaired gait a ...

The process of finding working gaits for legged robots always, to different extents, includes manual tuning, systematic search, or optimization of control parameters. This process populates a dataset of control parameter vectors and respective robot behavior factors, like forward speed. The dataset obtained from a tuning process can include many gaits which share a similar performance in one behavior factor, e.g. speed, but differ in the control parameter vectors used. Our question here is, using the tuning

The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...

Gait analysis has traditionally been carried out in a laboratory environment using expensive equipment, but, recently, reliable, affordable, and wearable sensors have enabled integration into clinical applications as well as use during activities of daily ...

Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...

Jamming of granular media has been shown to possess the property of stiffness variation, transitioning from a soft to a quasi-solid state depending on the packing density of the granules. Recently, a gradual stiffness change for bending has been reported b ...

Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on an invert ...

Auke Ijspeert

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3LP: A linear model of locomotion including falling, swing and torso dynamics

Symmetry breaking and gait transition induced by hydrodynamic sensory feedback in an anguilliform swimming robot

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

Propulsion module for generating wave-like motion

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

Multi-physics model of an electric fish-like robot: numerical aspects and application to obstacle avoidance

Rapid Online Learning of Hip Exoskeleton Assistance Preferences

3LP: a linear 3D-walking model including torso and swing dynamics

From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander

Dynamical system for learning the waveform and frequency of periodic signals - application to drumming

A New Methodological Approach to Analyze Human Roles in Human-Robot Interaction Scenarios

Muscle activation variability is inversely correlated with walking speed

Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Wearable Sensor-Based Real-Time Gait Detection: A Systematic Review

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation