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Auke Ijspeert

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Publications associées (313)

Frequency analysis with coupled nonlinear oscillators

Auke Ijspeert, Ludovic Righetti, Jonas Buchli

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 ...

2008

A Dynamical System for Online Learning of Periodic Movements of Unknown Waveform and Frequency

Auke Ijspeert, Ludovic Righetti

2008

Organisation of the spinal central pattern generators for locomotion in the salamander: biology and modelling

Auke Ijspeert

Among living tetrapods, salamanders are regarded as most closely resembling the first terrestrial vertebrates, and are therefore an interesting group in which the evolutionary changes in the locomotor behaviour from aquatic to terrestrial habitats can be i ...

2008

Fractional multi-models of the frog gastrocnemius muscle

Auke Ijspeert

In this article, frog gastrocnemius muscles are studied, and a multi-model identification presented. A transfer function is defined with few parameters to simulate striated muscle (Gastroctnemius) behaviour, for inclusion in a future real-time salamander c ...

SAGE Publications2008

Controlling swimming and crawling in a fish robot using a central pattern generator

Auke Ijspeert, Alessandro Crespi, Daisy Lachat, Ariane Pasquier

Online trajectory generation for robots with multiple degrees of freedom is still a difficult and unsolved problem, in particular for non-steady state locomotion, that is, when the robot has to move in a complex environment with continuous variations of th ...

2008

Learning to move in modular robots using central pattern generators and online optimization

Auke Ijspeert, Jérôme Maye, Rico Möckel, Alexander Spröwitz

This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In particular, we tackle the problems of online learning, that is ...

2008

Dynamical system for learning the waveform and frequency of periodic signals - application to drumming

Auke Ijspeert, Sarah Dégallier Rochat

The paper presents a two-layered system for learning and encoding a periodic signal and its application to a drumming task. The two layers are the dynamical system responsible for extracting the main frequency of the input signal, based on adaptive frequen ...

2008

Self-organized adaptive legged locomotion in a compliant quadruped robot

Auke Ijspeert, Jonas Buchli

In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...

2008

Locomotion in modular robots based on central pattern generators

Auke Ijspeert, Jérôme Maye, Masoud Asadpour, Rico Möckel, Alexander Spröwitz

2008

Biologically inspired CPG based above knee active prosthesis

Auke Ijspeert

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 ...

2008

Graph signature for self-reconfiguration planning

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Masoud Asadpour, Alexander Spröwitz

This project incorporates modular robots as building blocks for furniture that moves and self-reconfigures. The reconfiguration is done using dynamic connection / disconnection of modules and rotations of the degrees of freedom. This paper introduces a new ...

2008

Central pattern generators for locomotion control in animals and robots: a review

Auke Ijspeert

The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coord ...

2008

A modular bio-inspired architecture for movement generation for the infant-like robot iCub

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting ...

2008

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

Auke Ijspeert, Ludovic Righetti

2008

Passive compliant quadruped robot using central pattern generators for locomotion control

Auke Ijspeert, Ludovic Righetti, Simon Rutishauser, Alexander Spröwitz

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission t ...

2008

A bio-inspired architechture for movement generation based on discrete and rythmic movement primitives modeled by dynamical systems

Auke Ijspeert, Sarah Dégallier Rochat

2008

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

Auke Ijspeert, Masoud Asadpour, Yvan Bourquin, Alexander Spröwitz

This article presents a robust and heavy duty physical latching connection mechanism, which can be actuated with DC motors to actively connect and disconnect modular robot units. The special requirements include a lightweight and simple construction provid ...

2008

Pattern generators with sensory feedback for the control of quadruped locomotion

Auke Ijspeert, Ludovic Righetti

Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...

2008

The Dof-Box Project: An Educational Kit for Configurable Robots

André Guignard, Aude Billard, Auke Ijspeert, Florent Günter, Davis Daidié, Olivier Barbey

This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to miroengineering students. We present the hardware and software of the robots and describe the pedagogical approach adopted in the practical ...

2007

Adaptive Locomotion Control in Modular Robotics

Auke Ijspeert, Jérôme Maye, Masoud Asadpour, Rico Möckel, Alexander Spröwitz

2007

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