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Auke Ijspeert

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Publications associées (313)

Oscillator-based assistance of cyclical movements: model-based and model-free approaches

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assist ...

Springer-Verlag2011

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom

Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Guest editorial: special issue on control of locomotion—from animals to robots

Auke Ijspeert

Springer US2010

Adaptive Oscillators with Human-in-the-Loop: Proof of Concept for Assistance and Rehabilitation

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

Most recent findings in robot-assisted therapy suggest that the therapy is more successful if the patient actively participates to the movement (“assistance-as-needed”). In the present contribution, we propose a novel approach for designing highly flexible ...

IEEE2010

Modeling Discrete and Rhythmic Movements through Motor Primitives: A Review

Auke Ijspeert, Sarah Dégallier Rochat

Rhythmic and discrete movements are frequently considered separately in motor control, probably because different techniques are commonly used to study and model them. Yet, an increasing interest for a comprehensive model for movement generation requires t ...

Springer Verlag2010

Roombots: Reconfigurable Robots for Adaptive Furniture

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...

2010

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

Auke Ijspeert, Pierre-André Mudry, Rico Möckel, Philippe Laprade, Alexander Spröwitz, Mikaël Mayer, Stéphane Bonardi

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 ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

Auke Ijspeert, Sarah Dégallier Rochat, Sébastien Gay, José Santos-Victor

In this paper we present our work on integrating a locomotion controller based on central pattern generator (CPG) and a motion planning algorithm using artificial potential fields for a non-holonomic crawling humanoid robot, the iCub. We also integrated a ...

2010

Compliant Leg Design for a Quadruped Robot

Auke Ijspeert, Ludovic Righetti, Simon Rutishauser, Alexander Spröwitz, Konstantinos Karakasiliotis

2009

On-line learning and modulation of periodic movements with nonlinear dynamical systems

Auke Ijspeert

The paper presents a two-layered system for (1) learning and encoding a periodic signal without any knowledge on its frequency and waveform, and (2) modulating the learned periodic trajectory in response to external events. The system is used to learn peri ...

2009

Leg (AMAL) using bipedal robotics technology

Auke Ijspeert

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 ...

Elsevier2009

MODEM: a multi-agent hierarchical structure to model the human motor control system

Auke Ijspeert

In this study, based on behavioral and neurophysiological facts, a new hierarchical multi-agent architecture is proposed to model the human motor control system. Performance of the proposed structure is investigated by simulating the control of sit to stan ...

2009

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Alexander Spröwitz

We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture ...

2009

Adaptive Frequency Oscillators and Applications

Auke Ijspeert, Ludovic Righetti, Jonas Buchli

In this contribution we present a generic mechanism to transform an oscillator into an adaptive frequency oscillator, which can then dynamically adapt its parameters to learn the frequency of any periodic driving signal. Adaptation is done in a dynamic way ...

2009

Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running

Auke Ijspeert, Ludovic Righetti

2009

Decoding the mechanisms of gait transition in the salamander using robots and mathematical models

Auke Ijspeert

2009

Analysis of the terrestrial locomotion of a salamander robot

Auke Ijspeert, Konstantinos Karakasiliotis

2009

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

Auke Ijspeert

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 ...

2008

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

Auke Ijspeert, Ludovic Righetti

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 ...

2008

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

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