Publications by Auke Ijspeert | EPFL Graph Search

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Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

In order to make the transfer of biological principles to engineering problems successful, it is important to study the fundamental properties of biological systems. The goal is to arrive with useful abstractions that are (1) implementable, (2) testable by experiments and sample implementations, (3) retain the, for the engineering problems, essential good properties and features of the biological systems. At BIRG, we are interested in the fundamentals of locomotion control and their possible applications to

We present a gaze stabilization system using only visual information as feedback for a self tuning dynamical system. We describe how the dynamical system tunes its internal parameters to those of the optical ﬂow information to generate compensatory command ...

This study introduces a novel neuromechanical model employing a detailed spiking neural network to explore the role of axial proprioceptive sensory feedback, namely stretch feedback, in salamander locomotion. Unlike previous studies that often oversimplifi ...

To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this differ ...

Amphibious animals adapt their body coordination to compensate for changing substrate properties as they transition between terrestrial and aquatic environments. Using behavioural experiments and mathematical modelling of the amphibious centipede Scolopend ...

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 ...

In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...

In this contribution we present a generic mechanism to transform an oscillator into an adaptive frequency oscillator, which can then dynamically adapt its parameters to learn the frequency of any periodic driving signal. Adaptation is done in a dynamic way ...

A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...

The resonant properties of the intrinsic dynamics of single neurons could play a direct role in behaviour. One plausible role is in the recognition of temporal patterns, such as that seen in the auditory communication systems of Orthoptera. Recent behaviou ...

This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to visually detect, tra ...

The transition from aquatic to terrestrial locomotion was a key development in vertebrate evolution. We present a spinal cord model and its implementation in an amphibious salamander robot that demonstrates how a primitive neural circuit for swimming can b ...

Spring-like leg behavior was found in the global dynamics of human and animal running in sagittal plane. The corresponding template model, the conservative spring-loaded inverted pendulum (SLIP), shows stability for a large range of speeds and is, therefore, a promising concept for the design of legged robots. However, an anchoring of this template is needed in order to provide functions of biological structures (e.g., mass distribution, leg design) and engineers’ details for construction. We extend the SLI

We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion syste ...

Quadruped animals are capable of seamless transitions between different gaits. While energy efficiency appears to be one of the reasons for changing gaits, other determinant factors likely play a role too, including terrain properties. In this article, we ...

Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

Powered exoskeletons are among the emerging technologies claiming to assist functional ambulation. The potential to adapt robotic assistance based on specific motor abilities of incomplete spinal cord injury (iSCI) subjects, is crucial to optimize Human-Ro ...

Auke Ijspeert

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

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

A simple, adaptive locomotion toy-system

Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems

Balancing central control and sensory feedback produces adaptable and robust locomotor patterns in a spiking, neuromechanical model of the salamander spinal cord

Climbing favours the tripod gait over alternative faster insect gaits

Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes

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

Self-organized adaptive legged locomotion in a compliant quadruped robot

Adaptive Frequency Oscillators and Applications

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Resonant neurons and bushcricket behaviour

Dynamic Object Catching with Quadruped Robot Front Legs

From swimming to walking with a salamander robot driven by a spinal cord model

Anchoring the SLIP template: The effect of leg mass on running stability

Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots

Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains

Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids

The current state and future outlook of rescue robotics

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects