Publications de Auke Ijspeert | EPFL Graph Search

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Perching with winged Unmanned Aerial Vehicles has often been solved by means of complex control or intricate appendages. Here, we present a method that relies on passive wing morphing for crash-landing on trees and other types of vertical poles. Inspired b ...

The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method t ...

Nature has developed methods for controlling the movements of organisms with many degrees of freedom which differ strongly from existing approaches for balance control in humanoid robots: Biological organisms employ kinematic synergies that simultaneously ...

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

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 ...

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

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 ...

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 ...

Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and descending, and sitting, i ...

Auke Ijspeert

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

Design methodologies for central pattern generators: an application to crawling humanoids

Crash-perching on vertical poles with a hugging-wing robot

Engineering Entrainment and Adaptation in Limit Cycle Systems -- From biological inspiration to applications in robotics

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Biologically Inspired Kinematic Synergies Provide a New Paradigm for Balance Control of Humanoid Robots

Model predictive control based framework for CoM control of a quadruped robot

Kinematic and dynamic analysis of the mosquito larvae gait

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

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Analogy between Juggling and Hopping: Active Object Manipulation Approach

Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface

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

Preface: special issue on adaptive motion of animals and machines (1)

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

Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion

An Easy to Use Bluetooth Scatternet Protocol for fast Data Exchange in Wireless Sensor Networks and Autonomous Robots

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

Real-Time Locomotion Transitions Detection: Maximizing Performances with Minimal Resources

Design methodologies for central pattern generators: towards 'intelligent' locomotion in robots