Publications by Jonathan Patrick Arreguit O'Neill

Related publications (11)

Neuromechanical Simulations of Animats with Decentralised Control

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

EPFL2023

A spiking central pattern generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill

Central pattern generator (CPG) models have long been used to investigate both the neural mechanisms that underlie animal locomotion, as well as for robotic research. In this work we propose a spiking central pattern generator (SCPG) neural network and its ...

Iop Publishing Ltd2021

A Whole-Body Musculoskeletal Model of the Mouse

Auke Ijspeert, Grégoire Courtine, Claudia Kathe, Jonathan Patrick Arreguit O'Neill, Dimitri Bruno Marie Rodarie

Neural control of movement cannot be fully understood without careful consideration of interactions between the neural and biomechanical components. Recent advancements in mouse molecular genetics allow for the identification and manipulation of constituen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Wei Wang, Jonathan Patrick Arreguit O'Neill

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster

Auke Ijspeert, Pavan P Ramdya, Jonathan Patrick Arreguit O'Neill, Shravan Tata Ramalingasetty, Victor Lobato Rios, Pembe Gizem Ozdil

Animal behavior emerges from an interaction between neural network dynamics, musculoskeletal properties and the physical environment. Accessing and understanding the interplay between these elements requires the development of integrative and morphological ...

Nature Publishing Group2022

Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Jonathan Patrick Arreguit O'Neill

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we ...

IEEE2020

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Auke Ijspeert, Kamilo Andres Melo Becerra, Laura Isabel Paez Coy, Jonathan Patrick Arreguit O'Neill

Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythm ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Auke Ijspeert, Alessandro Crespi, Jonathan Patrick Arreguit O'Neill

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Elsevier2025

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

Alessandro Pazzaglia, Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Andrea Ferrario

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 ...

2025

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

Auke Ijspeert, Salman Faraji, Jonathan Patrick Arreguit O'Neill

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 ...

IEEE2018

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

Auke Ijspeert, Simon Lukas Hauser, Jonathan Patrick Arreguit O'Neill

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 ...

IEEE2021