Publications by Auke Ijspeert | EPFL Graph Search

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Particle Swarm Optimization is a simple and elegant optimization algorithm used to solve a large variety of different real-valued problems. When it comes to solving combinations of continuous and discrete problems however, PSO by itself is not very well su ...

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control und ...

Modular reconfigurable robot (MRR) systems have attracted growing attention because of their versatility and ability to operate across diverse domains. Research on MRR systems has made notable progress, evolving from laboratory settings to real-world applications. However, a gap remains in aligning MRR technologies with specific needs, and a comprehensive review of challenges in practical applications is still lacking. To address these issues, this Review adopts an application-oriented perspective. Focusing

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

Animals must coordinate multiple body parts to perform important tasks such as grooming, or locomotion. How this movement synchronization is achieved by the nervous system remains largely unknown. Here, we uncover the neural basis of body part coordination during goal-directed antennal grooming in the fly, Drosophila melanogaster . We find that unilateral or bilateral grooming of one or both antenna, respectively, arises from synchronized movements of the head, antennae, and forelegs. Simulated replay of th

We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework. Through both ext ...

Roombots (RB) are self-reconfigurable modular robots designed to study robotic reconfiguration on a structured grid and adaptive locomotion off grid. One of the main goals of this platform is to create adaptive furniture inside living spaces such as homes ...

In bio-inspired robotics, use of a Central Pattern Generator (CPG) to coordinate actuation is fairly common. The gait achieved depends on a number of CPG parameters, which can be adjusted to control the robot's motion. This paper presents an output feedback motion control framework, addressing issues encountered when dealing with this type of control problem, including partial state measurements and system uncertainty. Efficacy of the presented approach is illustrated by results of numerical simulations in

We present a framework for learning a single policy capable of producing all quadruped gaits and transitions. The framework consists of a policy trained with deep reinforcement learning (DRL) to modulate the parameters of a system of abstract oscillators (i.e. Central Pattern Generator), whose output is mapped to joint commands through a pattern formation layer that sets the gait style, i.e. body height, swing foot ground clearance height, and foot offset. Different gaits are formed by changing the coupling

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one designed to mimic a crocodile and another designed to mimic a monitor lizard, along the banks of the Nile River in Uganda, Africa. These robots were developed uniquely fo ...

We present a new walking 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 3LP, the proposed controller projects intermediate states of the biped back to the beginning of the phase for which a discrete LQR controller is designed. After the projection, a proper control policy is generated by this LQR controller and used at the intermediate time. The project

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...

In this article, we propose a new controller for recovering intermittent pushes during bipedal locomotion. We use 3LP as a template model which can provide closed-form solutions for state evolution. The idea behind our controller is to project the perturbed state of current time-step back to the beginning of the hybrid phase, use the expertise of a discrete controller and then apply the resulting optimal policy to the system at the current time-step. Linear properties of 3LP makes such calculation very fast

Animals must coordinate their body parts to perform essential behaviors like grooming and locomotion. Here, we investigate the neural basis of body part coordination during antennal grooming in the fly, Drosophila melanogaster. Unilateral and bilateral grooming, targeting one or both antennae, respectively, arise from synchronized movements of the head, antennae, and forelegs. Replay of these kinematics in a biomechanical model suggests that coordination allows for unobstructed, forceful collisions between

The best known analytical model of swimming was originally developed by Lighthill and is known as the large amplitude elongated body theory (LAEBT). Recently, this theory has been improved and adapted to robotics through a series of studies ranging from hy ...

This paper investigates the interactive locomotion for physically coupled bipedal agents using a human-human object carrying experiment and a simple mathematical model. The model is based on the Spring Loaded Inverted Pendulum (SLIP) and on the assumption ...

The relationship between morphology and locomotion performance in amphibious fish remains poorly understood, particularly in axial-appendage-based and appendage-based movements. To address this, we introduce Polymander, a reconfigurable robot capable of mi ...

Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns.Most of these approaches use position-based control, where policies output target joint angles that must be processed by a low-level controller (e.g., PD or impedance controllers) to compute joint torques.Although impressive results have been achieved in controlled real-world scenarios, these methods often struggle with compliance and adaptability when encounte

This article presents a control architecture for controlling the locomotion of an amphibious snake/lamprey robot capable of swimming and serpentine locomotion. The control architecture is based on a central pattern generator (CPG) model inspired from the n ...

Auke Ijspeert

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Meta Morphic Particle Swarm Optimization

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Modular reconfigurable robots: Toward on-demand multifunctional applications

Design and development of the efficient anguilliform swimming robot- MAR

Centralized brain networks underlie body part coordination during grooming

Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion

Natural User Interface for Roombots

Nonlinear Motion Control of CPG-based Movement with Applications to a Class of Swimming Robots

AllGaits: Learning All Quadruped Gaits and Transitions

Animal robots in the African wilderness: Lessons learned and outlook for field robotics

Time-projection control to recover inter-sample disturbances, application to bipedal walking control

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online

Centralized brain networks controlling antennal grooming coordination

Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot

SATA: Safe and Adaptive Torque-Based Locomotion Policies Inspired by Animal Learning

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model