Publications by Ludovic Righetti

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Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...

Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...

Nonlinear oscillators are widely used in biology, physics and engineering for modeling and control. They are interesting because of their synchronization properties when coupled to other dynamical systems. In this paper, we propose a learning rule for osci ...

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Oscillators have two main limitations: their synchronization properties are limited (i.e., they have a finite synchronization region) and they have no memory of past interactions (i.e., they return to their intrinsic frequency whenever the entraining signa ...

The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with ...

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

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 ...

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission t ...

In this contribution we present a CPG (central pattern generator) controller based on coupled Rössler systems. It is able to generate both limit cycle and chaotic behaviors through bifurcation. We develop an experimental test bench to measure quantitativel ...

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

The online generation of trajectories in humanoid robots remains a difficult problem. In this contribution, we present a system that allows the superposition, and the switch between, discrete and rhythmic movements. Our approach uses nonlinear dynamical sy ...

Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting ...

We present a method to obtain the frequency spectrum of a signal with a nonlinear dynamical system. The dynamical system is composed of a pool of adaptive frequency oscillators with negative mean-field coupling. For the frequency analysis, the synchronizat ...

Ludovic Righetti

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Control of legged locomotion using dynamical systems : design methods and adaptive frequency oscillators

Pattern generators with sensory feedback for the control of quadruped locomotion

Dynamic hebbian learning in adaptive frequency oscillators

Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators

iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research

A unified framework for walking and running of bipedal robots

Adaptive Frequency Oscillators and Applications

Passive compliant quadruped robot using central pattern generators for locomotion control

Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Movement generation using dynamical systems: a humanoid robot performing a drumming task

A modular bio-inspired architecture for movement generation for the infant-like robot iCub

Frequency analysis with coupled nonlinear oscillators

Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots

Design methodologies for central pattern generators: an application to crawling humanoids

Engineering Entrainment and Adaptation in Limit Cycle Systems -- From biological inspiration to applications in robotics

Design methodologies for central pattern generators: towards 'intelligent' locomotion in robots

Compliant Leg Design for a Quadruped Robot

Adaptive Frequency Oscillators applied to dynamic walking II. Adapting to resonant body dynamics