Publications de Auke Ijspeert | EPFL Graph Search

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This study aims at providing a control-learning framework capable of generating optimal locomotion patterns for the modular robots. The key ideas are firstly to provide a generic control structure that can be well-adapted for the different morphologies and secondly to exploit and coevolve both morphology and control aspects. A generic framework combining robot morphology, control and environment and on the top of them optimization and evolutionary algorithms are presented. The details of the components and

Among living tetrapods, salamanders are regarded as most closely resembling the first terrestrial vertebrates, and are therefore an interesting group in which the evolutionary changes in the locomotor behaviour from aquatic to terrestrial habitats can be i ...

In the attempt to build adaptive and intelligent machines, roboticists have looked at neuroscience for more than half a century as a source of inspiration for perception and control. More recently, neuroscientists have resorted to robots for testing hypoth ...

This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction provid ...

In Cheetah-cub-S we realized an efficiant concept by implementing a spine-like structure with one DoF into a quadruped, modular and mobile platform. We increased maneuverability dramatically compared to a robot with rigid spine, while keeping controlling effort low by using intelligent mechanics. Therefore, it is possible to steer via trunk motion without changing the gait or corresponding parameters. The robot weights 1160 g at 0.1 m (height), 0.105 m (width) and 0.205 m (length). Based on qualitative test

Bio-inspired climbing robots relying on adhesion systems are believed to become essential tools for several industrial applications in the near future. In recent years, research has mainly focused on modeling micro-scale adhesion phenomena; a macro-scale a ...

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 ...

A low-cost bipedal walking robot kit with limited actuation and sensing capabilities was designed and built to achieve actively powered, passive dynamic walking locomotion over level ground. The walking system is composed of readily available parts and materials totaling less than $50 and can be assembled either from plans or pre-fabricated parts in less than a day. Indeed, the very first (and only) prototype was conceived and built in one day, and capable of walking within two more. In place of components

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 ...

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 ...

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straig ...

Maintaining balance is a critical aspect of human gait, especially for individuals with balance deficiencies. Accurate assessment and monitoring of balance are essential to reduce the risk of falls and improve mobility outcomes. Individuals with balance im ...

In this paper, we further develop our framework to design new assistance and rehabilitation protocols based on motor primitives. In particular, we extend our recent results of oscillator-based assistance to the case of walking. The adaptive oscillator used in this paper is capable of predicting the angular position of the user's joints in the future, based on the pattern learned during preceding cycles. Assistance is then provided by attracting the joints to this future position using a force field in a com

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 ...

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 ...

Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimizat ...

One of the major deficiencies of current robots in comparison to living beings is the ability to adapt to new conditions either resulting from environmental changes or their own dynamics. In this work we focus on situations where the robot experiences involuntary changes in its body particularly in its limbs' inertia. Inspired from its biological counterparts we are interested in enabling the robot to adapt its motor control to the new system dynamics. To reach this goal, we propose two different control st

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 ...

In this contribution we introduce novel dynamics model based on existing dynamics modeling approaches that allow detailed studies on the role of a compliant spine in quadruped locomotion. We use this model to address our key questions on locomotion control and the effect of robot morphologies by performing extensive sets of experiments.

Motion control of bio-inspired mobile robotic platforms can prove a challenging problem. In particular, models for the considered type of systems may prove nonlinear, uncertain, and fairly complicated. To address these issues, use of an output predictor-ba ...

Auke Ijspeert

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Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control

Organisation of the spinal central pattern generators for locomotion in the salamander: biology and modelling

Robotics and Neuroscience

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

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

A point-wise model of adhesion suitable for real-time applications of bio-inspired climbing robot

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

A low-cost, actuated passive dynamic walker kit for accessible research and education

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

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

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Assessing Balance During Gait with a Lower Limb Exoskeleton

Oscillator-based Walking Assistance: a Model-free Approach

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

Envirobot: A Bio-Inspired Environmental Monitoring Platform

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

Motor Control Adaptation to Changes in Robot Body Dynamics for a Complaint Quadruped Robot

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

Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots