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Auke Ijspeert

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Publications associées (313)

Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots

Auke Ijspeert, Mahdi Khoramshahi

We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion syste ...

Elsevier2013

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

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mahdi Khoramshahi

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 ...

2013

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

Auke Ijspeert, Rico Möckel, Stéphane Bonardi, Massimo Vespignani

Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...

2013

Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics

Auke Ijspeert, Jérémie Knüsel, Andrej Bicanski

Vertebrate animals exhibit impressive locomotor skills. These locomotor skills are due to the complex interactions between the environment, the musculo-skeletal system and the central nervous system, in particular the spinal locomotor circuits. We are inte ...

Springer Berlin Heidelberg2013

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani

This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint ...

Springer Verlag2013

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

Auke Ijspeert, Alexander Spröwitz, Sébastien Gay, Alexandre Tuleu, Mostafa Ajallooeian

We present a general approach to design modular controllers for limit cycle locomotion over unperceived rough terrain. The control strategy uses a Central Pattern Generator (CPG) model implemented as coupled nonlinear oscillators as basis. Stumbling correc ...

2013

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

Auke Ijspeert, Jesse van den Kieboom, Mostafa Ajallooeian

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, ...

Elsevier Science Bv2013

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian, Massimo Vespignani

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

2013

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

Auke Ijspeert

Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear ...

Massachusetts Institute of Technology Press2013

Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

Auke Ijspeert, Mahdi Khoramshahi, Metin Sitti

The Basilisk Lizard’s striking ability to sustain highly dynamic legged locomotion on a range of surfaces from hard-ground to water is a remarkable feat [1]. Most legged robots would have difficulty emulating this animal’s ability to robustly locomote on y ...

Carnegie Mellon University2013

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

Auke Ijspeert, Sébastien Gay, José Santos-Victor

In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we us ...

2013

From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander

Auke Ijspeert, Andrej Bicanski

The evolutionary transition from water to land required new locomotor modes and corresponding adjustments of the spinal "central pattern generators" for locomotion. Salamanders resemble the first terrestrial tetrapods and represent a key animal for the stu ...

Springer Berlin Heidelberg2013

Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Soha Pouya, Stéphane Bonardi, Massimo Vespignani

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time con- suming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimizat ...

2013

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

Auke Ijspeert, Jesse van den Kieboom

Biped locomotion has been extensively studied using various approaches, including Passive Dynamic Walking, ZMP-based control and biologically inspired muscle models. In biped locomotion robotics, there has been an increasing interest in variable impedance ...

2013

Stable 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 ...

2013

A Salamander’s Flexible Spinal Network for Locomotion, Modeled at Two Levels of Abstraction

Auke Ijspeert, Jérémie Knüsel, Andrej Bicanski

Animals have to coordinate a large number of muscles in different ways to efficiently move at various speeds and in different and complex environments. This coordination is in large part based on central pattern generators (CPGs). These neural networks are ...

Oxford University Press2013

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Auke Ijspeert, Metin Sitti

Understanding and adapting the underlying principles of biological systems to engineering systems have the promise of enabling many new mechatronic systems that can operate in unstructured and uncertain environments robustly and efficiently. This paper fir ...

Institute of Electrical and Electronics Engineers2013

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

Auke Ijspeert, Sébastien Gay, Jesse van den Kieboom, José Santos-Victor

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...

2013

Compliant and adaptive control of a planar monopod hopper in rough terrain

Auke Ijspeert, Rico Möckel, Soha Pouya, Salman Faraji

IEEE2013

Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mahdi Khoramshahi

2013

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