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Auke Ijspeert

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Publications associées (313)

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

Auke Ijspeert, Alessandro Crespi, Jérémie Knüsel, Konstantinos Karakasiliotis

Oxford University Press2013

Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mostafa Ajallooeian

2013

Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

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

We present the hardware and reconfiguration experiments for an autonomous self-reconfigurable modular robot called Roombots (RB). RB were designed to form the basis for self-reconfigurable furniture. Each RB module contains three degrees of freedom that ha ...

IEEE2012

Design and Evaluation of a Graphical iPad Application for Arranging Adaptive Furniture

Auke Ijspeert, Pierre Dillenbourg, Patrick Jermann, Rico Möckel, Jérémy Blatter, Stéphane Bonardi, Julia Fink

We present the design and evaluation of an iPad application that will be used to operate the modular robots “Roombots”. Roombots are the building blocks for adaptive pieces of furniture. The application allows a user to arrange adaptive furniture within a ...

2012

Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

Auke Ijspeert, Konstantinos Karakasiliotis

Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tail ...

Ieee2012

Estimation of Relative Position and Coordination of Mobile Underwater Robotic Platforms through Electric Sensing

Auke Ijspeert, Mathieu Porez, Yannick Morel

In the context of underwater robotics, positioning and coordination of mobile agents can prove a challenging problem. To address this issue, we propose the use of electric sensing, with a technique inspired by weakly electric fishes. In particular, the app ...

Ieee2012

Predictive Gaze Stabilization During Periodic Locomotion Based On Adaptive Frequency Oscillators

Auke Ijspeert, Sébastien Gay

In this paper we present an approach to the problem of stabilizating the gaze of legged robots using Adaptive Frequency Oscillators to learn the frequency, phase and amplitude of the optical flow and generate compensatory commands during robot locomotion. ...

Ieee2012

The role of feedback in morphological computation with compliant bodies

Auke Ijspeert, Rolf Pfeifer

The generation of robust periodic movements of complex nonlinear robotic systems is inherently difficult, especially, if parts of the robots are compliant. It has previously been proposed that complex nonlinear features of a robot, similarly as in biologic ...

Springer Verlag2012

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

Auke Ijspeert, Soha Pouya, Mostafa Ajallooeian

In this paper we present a closed-loop optimal control approach for the online control of a legged robot locomotion, particularly the hopping of a simulated monoped robot. Modeling is done based on the spring loaded inverted pendulum (SLIP) model suggested ...

2012

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

Co-evolution of Morphology and Control of Virtual Legged Robots for the Steering Task

Auke Ijspeert, Ken Larpin, Soha Pouya, Jesse van den Kieboom

Co-evolution of morphology and control is a powerful approach in robotics to study performance on a particular task, considering mechanical structure and control as a whole to accomplish a certain goal. Co-evolutionary methods have been used to study the e ...

2011

Human-Robot Synchrony: Flexible Assistance Using Adaptive Oscillators

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

We propose a novel method for movement assistance that is based on adaptive oscillators, i. e., mathematical tools that are capable of extracting the high-level features (amplitude, frequency, and offset) of a periodic signal. Such an oscillator acts like ...

2011

Modeling axial spinal segments of the salamander central pattern generator for locomotion

Auke Ijspeert, Andrej Bicanski

BioMed Central2011

On-line frequency adaptation and movement imitation for rhythmic robotic tasks

Auke Ijspeert, Tadej Petric

In this paper we present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform, which can work online with no additional signal processing or logical operations. The method originates from non-linear dynamica ...

2011

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

2011

Effects of muscle dynamics and proprioceptive feedback on the kinematics and CPG activity of salamander stepping

Auke Ijspeert, Jérémie Knüsel

BioMed Central2011

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

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat, Sébastien Gay

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 ...

Springer Verlag2011

Biologically inspired kinematic synergies enable linear balance control of a humanoid robot

Auke Ijspeert

Despite many efforts, balance control of humanoid robots in the presence of unforeseen external or internal forces has remained an unsolved problem. The difficulty of this problem is a consequence of the high dimensionality of the action space of a humanoi ...

2011

Towards a theoretical foundation for morphological computation with compliant bodies

Auke Ijspeert, Rolf Pfeifer

The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. The vision of morphological computation proposes to view these aspects not only as problems, but rather also as parts of the solution. Non-rigid bo ...

2011

Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems

Auke Ijspeert, Sébastien Gay, José Santos-Victor

We present a gaze stabilization system using only visual information as feedback for a self tuning dynamical system. We describe how the dynamical system tunes its internal parameters to those of the optical ﬂow information to generate compensatory command ...

2011

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