Publications related to Compliant Leg Design for a Quadruped Robot

Related publications (9)

Design of robotic physical intelligence

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

EPFL2025

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Zewei Zhang, Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor control is possible th ...

Institute of Electrical and Electronics Engineers Inc.2024

Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu

In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be p ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Design and development of the efficient anguilliform swimming robot- MAR

Auke Ijspeert, Peter Eckert, Mohammadreza Bayat

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 ...

2020

Hardware, software and control design considerations towards low-cost compliant quadruped robots

Alexandre Tuleu

Quadrupedal robots have been a field of interest the last few years, with many new maturing platforms. Many of these projects have in common the use of state of the art actuation and sensing, and therefore are able to handle difficult locomotion tasks very ...

EPFL2016

Visual Control of Legged Robots for Locomotion in Complex Environments using Central Pattern Generators

Sébastien Gay

EPFL2014

Analogy between Juggling and Hopping: Active Object Manipulation Approach

Auke Ijspeert

Dynamic manipulation of an active object is introduced as a general model of hopping and juggling tasks. In this setting, juggling and hopping are two extreme cases of this general model. Behavioral resemblance of these two tasks is afterwards extended to ...

2011

Steerable Miniature Jumping Robot

Dario Floreano, Jean-Christophe Zufferey, Mirko Kovac

Jumping is used in nature by many small animals to locomote in cluttered environments or in rough terrain. It offers small systems the benefit of overcoming relatively large obstacles at a low energetic cost. In order to be able to perform repetitive jumps ...

Springer Verlag2010

Online optimization of swimming and crawling in an amphibious snake robot

Auke Ijspeert, Alessandro Crespi

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...

2008