Publications de Auke Ijspeert | EPFL Graph Search

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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 ...

In this paper, we propose a novel architecture to estimate external forces applied to a compliantly controlled balancing robot in simulations. We use similar dynamics equations used in the controller to find mismatches in the available sensory data and ass ...

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 ...

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 ...

The objective of the work presented here is to develop a low cost active above knee prosthetic device exploiting bipedal robotics technology which will work utilizing the available biological motor control circuit properly integrated with a Central Pattern ...

SeqIKPy is a Python package for inverse kinematics (IK) calculations in animal bodies with complex joint configurations. The name stands for Sequential Inverse Kinematics in Python, as our method computes joint angles sequentially by performing IK for each joint along a kinematic chain.

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 ...

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

We present a method to obtain the frequency spectrum of a signal with a nonlinear dynamical system. The dynamical system is composed of a pool of adaptive frequency oscillators with negative mean-field coupling. For the frequency analysis, the synchronizat ...

This paper reports a study on short-time subharmonic pitch breaks in vocal fold vibration, which are found to be a common feature of the human voice in spoken language. The observed pitch breaks correspond to a change in periodicity of the electrolaryngogr ...

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 ...

Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...

Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based ...

The framework of dynamic movement primitives allows the generation of discrete and periodic trajectories, which can be modulated in various aspects. We propose and evaluate a novel modulation approach that includes force feedback and thus allows physical i ...

This paper presents our work towards a decentralized reconfiguration strategy for self-reconfiguring modular robots, assembling furniture-like structures from Roombots metamodules. We explore how reconfiguration by locomotion from a configuration A to a co ...

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid obje ...

The objective of the work presented here is to develop a low cost active knee prosthetic devices as real time embedded system which utilizes the available biological motor control circuit properly integrated with a Central Pattern Generator (CPG) aided con ...

Auke Ijspeert

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

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

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

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

Leg (AMAL) using bipedal robotics technology

SeqIKPy: a Python package for inverse kinematics in insects

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Frequency analysis with coupled nonlinear oscillators

Nonlinear modelling of double and triple period pitch breaks in vocal fold vibration

Real-time full body motion imitation on the COMAN humanoid robot

A singularity-tolerant inverse kinematics including joint position and velocity limitations

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks

Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

Locomotion in modular robots based on central pattern generators

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

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

Biologically inspired CPG based above knee active prosthesis