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Auke Ijspeert

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Related publications (313)

Model predictive control based framework for CoM control of a quadruped robot

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

2017

Spine Controller for a Sprawling Posture Robot

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

2017

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

Auke Ijspeert, Salman Faraji

We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...

Ieee-Inst Electrical Electronics Engineers Inc2017

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

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

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromusc ...

Frontiers Research Foundation2017

Hammering Does Not Fit Fitts' Law

Auke Ijspeert, Cole Stewart Simpson, Tadej Petric

While movement is essential to human wellbeing, we are still unable to reproduce the deftness and robustness of human movement in automatons or completely restore function to individuals with many types of motor impairment. To better understand how the hum ...

Frontiers Research Foundation2017

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

Auke Ijspeert, Seyed Hamed Razavi, Jessica Lanini

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid obje ...

Public Library of Science2017

Fast state-switching of a jamming-based foot

Auke Ijspeert, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Simon Lukas Hauser

2017

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Auke Ijspeert, Jessica Lanini

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 ...

Springer International Publishing Ag2017

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

Auke Ijspeert, Salman Faraji

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 ...

Sage Publications Ltd2017

A singularity-tolerant inverse kinematics including joint position and velocity limitations

Auke Ijspeert, Salman Faraji

Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...

2017

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

Auke Ijspeert, Florin Dzeladini, Karen Minassian

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 ...

Sage Publications Inc2017

Climbing favours the tripod gait over alternative faster insect gaits

Dario Floreano, Auke Ijspeert, Thibault Lucien Christian Asselborn, Pavan P Ramdya, Robin Thandiackal

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 ...

Nature Research2017

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

Auke Ijspeert, Grégoire Courtine, Selin Anil, Joachim von Zitzewitz, Rubia van den Brand, Marco Capogrosso, Jean-Baptiste Mignardot, Nicolas Francis Fumeaux, Jessica Lanini, Jocelyne Bloch

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 ...

Amer Assoc Advancement Science2017

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Auke Ijspeert, Salman Faraji

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and ass ...

Ieee2016

Bio-inspired balance controller for a humanoid robot

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, François André Heremans

Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing ...

Ieee2016

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Auke Ijspeert, Florin Dzeladini, Etienne Burdet, Arash Arami, Daniel Renjewski, Amy Roning Wu

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a S ...

Ieee2016

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

Auke Ijspeert, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert, Steve Walter Shue Heim

This work explores the possible roles of active tails for steady-state legged-locomotion. A series of simple models are proposed which capture the dynamics of an idealized running system with an active tail. The models suggest that the control objectives o ...

Emerald Group Publishing Ltd2016

Bioinspired Motor Control for Articulated Robots [From the Guest Editors]

Auke Ijspeert

Institute of Electrical and Electronics Engineers2016

Optimal Search Strategies for Pollutant Source Localization

Auke Ijspeert, Howard Li

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 ...

Ieee2016

Muscle activation variability is inversely correlated with walking speed

Auke Ijspeert, Florin Dzeladini, Amandine Grappe, Cole Stewart Simpson

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 ...

Springer2016

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