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Auke Ijspeert

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Related publications (313)

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Auke Ijspeert, Luca Colasanto, Tadej Petric

Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2018

Fast multi-contact whole-body motion planning with limb dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Salman Faraji

We present a new method for multi-contact motion planning which efficiently encodes internal dynamics of the robot without needing to use full models. Our approach is based on a five-mass model which is formulated by Cartesian points instead of joint angle ...

IEEE2018

Compliant universal grippers as adaptive feet in legged robots

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

2018

Playdough to Roombots: Towards a Novel Tangible User Interface for Self-reconfigurable Modular Robots

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

One of the main strengths of self-reconfigurable modular robots (SRMR) is their ability to shape-shift and dynamically change their morphology. In the case of our SRMR system "Roombots", these shapes can be quite arbitrary for a great variety of tasks whil ...

IEEE COMPUTER SOC2018

Imprecise dynamic walking with time-projection control

Philippe Müllhaupt, Auke Ijspeert, Salman Faraji

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

2018

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

Auke Ijspeert, Frédéric Freundler, Mehmet Hasan Mutlu, Simon Lukas Hauser

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 ...

IEEE COMPUTER SOC2018

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Dario Floreano, Auke Ijspeert, Carine Rognon, Stefano Mintchev, Amy Roning Wu

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 ...

2018

Decoding the Neural Mechanisms Underlying Locomotion Using Mathematical Models and Bio-inspired Robots: From Lamprey to Human Locomotion

Auke Ijspeert

SPRINGER INTERNATIONAL PUBLISHING AG2018

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Dario Floreano, Auke Ijspeert, Carine Rognon, Stefano Mintchev, Amy Roning Wu

SPRINGER INTERNATIONAL PUBLISHING AG2018

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Kyoichi Akiyama

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 ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

2018

Challenges in visual and inertial information gathering for a sprawling posture robot

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra, Mahsa Parsapour

We discuss challenges a sprawling posture legged robot faces when moving in a complex environment. These kind of robots can be used for search and rescue applications when proper sensors are used and placed correctly. Finding an adequate position for placi ...

2017

Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

A neuromuscular model (NMC) presented by H. Geyer and extended by S. Song shows very interesting similarities with real human locomotion. The model uses a combination of reflex loops to generate stable locomotion and is able to cope with external disturban ...

Springer International Publishing Ag2017

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

Auke Ijspeert, Jamie Paik, Simon Lukas Hauser, Matthew Aaron Robertson

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 ...

2017

Spinal joint compliance and actuation in a simulated bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mohammad Khodabakhsh

Spine movements play an important role in quadrupedal locomotion, yet their potential benefits in locomotion of quadruped robots have not been systematically explored. In this work, we investigate the role of spinal joint actuation and compliance on the bo ...

Springer2017

Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of roombots modules

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

2017

Active stabilization of a stiff quadruped robot using local feedback

Auke Ijspeert, Florin Dzeladini, Tomislav Horvat, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Simon Lukas Hauser, Rui Vasconcelos

2017

A Versatile Neuromuscular Exoskeleton Controller for Gait Assistance: A Preliminary Study on Spinal Cord Injury Patients

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

We investigated the capabilities of a reflex-based neuromuscular controller with a knee and hip gait trainer worn by a subject with a complete spinal cord injury. With controller assistance, this subject was able to reach a walking speed of 1.0m/s. Measure ...

Springer Int Publishing Ag2017

Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

Auke Ijspeert, Alessandro Crespi

Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. Among these applications, pollution source locali ...

Elsevier2017

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

Auke Ijspeert, Shura Suzuki

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 ...

IEEE2017

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