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Auke Ijspeert

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Related publications (313)

Autonomous Learning of Internal Dynamic Models for Reaching Tasks

The paper addresses the problem of learning internal task-specific dynamic models for a reaching task. Using task-specific dynamic models is crucial for achieving both high tracking accuracy and compliant behaviour, which improves safety concerns while wor ...

Springer-Verlag Berlin2016

Natural user interface for lighting control: Case study on desktop lighting using modular robots

Auke Ijspeert, Stéphane Bonardi, Massimo Vespignani, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser

Roombots (RB) are self-reconfigurable modular robots designed to explore physical structure change by robotic reconfiguration and adaptive locomotion on structured grid environment or unstructured environment. The primary goal of RB is to create adaptive f ...

Ieee2016

Friction and damping of a compliant foot based on granular jamming for legged robots

Auke Ijspeert, Alexandre Tuleu, Peter Eckert, Simon Lukas Hauser

Moving away from simple foot designs of current quadruped robots towards a more bio-inspired approach, a novel foot design was implemented on the quadruped robot Oncilla. These feet mimic soft paw-pads of dogs and cats with high traction and soft underlyin ...

Ieee2016

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

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

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

World Scientific Publ Co Pte Ltd2016

Envirobot: A Bio-Inspired Environmental Monitoring Platform

Auke Ijspeert, Alessandro Crespi

Autonomous marine vehicles are becoming essential tools in aquatic environmental monitoring systems, and can be used for instance for data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills. In this work, we present an uncon ...

Ieee2016

Kinematic and gait similarities between crawling human infants and other quadruped mammals

Auke Ijspeert, Ludovic Righetti

Crawling on hands and knees is an early pattern of human infant locomotion, which offers an interesting way of studying quadrupedalism in one of its simplest form. We investigate how crawling human infants compare to other quadruped mammals, especially pri ...

Frontiers Media Sa2015

Where to place cameras on a snake robot: Focus on camera trajectory and motion blur

Auke Ijspeert, Massimo Vespignani, Alexandre Bernardino, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu

Visual information is heavily used in robotics, in particular for SLAM applications. Visual SLAM algorithms depend on robust feature extraction and reliable state estimation. Quality of the visual information highly depends on how that information is captu ...

IEEE2015

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Peter Eckert

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine conﬁguration. Both spine con- ﬁgurations bend in the sagi ...

2015

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

Auke Ijspeert, Stéphane Bonardi, Massimo Vespignani, Kamilo Andres Melo Becerra

This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...

2015

Control of Aquatic and Terrestrial Gaits in Salamander

Auke Ijspeert

Springer New York2015

Compliant snake robot locomotion on horizontal pipes

Auke Ijspeert, Massimo Vespignani, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu

In this paper we introduce a body-compliant Modular Snake Robot executing rolling gaits on different cylindrical geometries. In the state of the art it is considered that an active shape adaptation to the terrain while a gait is executed produces better pe ...

2015

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse, Luca Colasanto, Nicolas Benoît Dominique Van der Noot, Allan Barrea

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

IEEE2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Auke Ijspeert, Peter Eckert, Karl Weinmeister

A reliable concept for steering was realized by in- tegrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramat- ically compared to a robot with rigid spine, while keeping controlling effort low ...

2015

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

Auke Ijspeert, Konstantinos Karakasiliotis, Robin Thandiackal, Tomislav Horvat, Laura Deanne Fleury, Kamilo Andres Melo Becerra

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

Simplifying Control through Active Tail Use

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

Oxford Univ Press Inc2015

Real-time full body motion imitation on the COMAN humanoid robot

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

Cambridge Univ Press2015

Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

Auke Ijspeert, Luca Colasanto, Salman Faraji

Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...

2015

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

Auke Ijspeert, Luca Colasanto, Nicolas Benoît Dominique Van der Noot

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 ...

IEEE2015

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Auke Ijspeert, Jesse van den Kieboom, Massimo Vespignani, Luc Guyot

Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based ...

IEEE2014

Engineering Intelligent Electronic Systems Based on Computational Neuroscience

Auke Ijspeert

Institute of Electrical and Electronics Engineers2014

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