Publications de Auke Ijspeert | EPFL Graph Search

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Salamanders have captured the interest of biologists and roboticists for decades because of their ability to locomote in different environments and their resemblance to early representatives of tetrapods. In this article, we review biological and robotic s ...

We investigated the capabilities of a reflex-based neuromuscular controller with a knee and hip gait trainer worn by a subject with a complete spinal cord injury. With controller assistance, this subject was able to reach a walking speed of 1.0m/s. Measure ...

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 ...

Even though many prototypes of 3D self-reconfiguring modular robots (SRMRs) have been developed in recent years, a demonstration involving 1'000 modules remains a challenge. This is largely due to complex mechanics needed to achieve connection, disconnecti ...

This paper is associated with a video winner of a 2023 American Physical Society’s Division of Fluid Dynamics (DFD) Gallery of Fluid Motion Award for work presented at the DFD Gallery of Fluid Motion. ...

Auke Ijspeert

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Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval - A Design, Control and Experimental Study

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

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

A Versatile Neuromuscular Exoskeleton Controller for Gait Assistance: A Preliminary Study on Spinal Cord Injury Patients

Engineering Intelligent Electronic Systems Based on Computational Neuroscience

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

Simplifying Control through Active Tail Use

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

Performance tradeoffs in anguilliform swimming via viscoelastic modulation

AmphiBot I: An amphibious snake-like robot

Kubits: Solid-State Self-Reconfiguration With Programmable Magnets

Institute Presentation: Biologically Inspired Robotics Group at EPFL

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

Eel-like robot swims more efficiently with increasing joint amplitudes compared to constant joint amplitudes

Salamandra robotica: A Biologically Inspired Amphibious Robot that Swims and Walks

Learning Attractor Landscapes for Learning Motor Primitives

Nonlinear dynamical systems for imitation with humanoid robots

Evolution of a central pattern generator for the swimming and trotting gaits of the salamander

Understanding collective aggregation mechanisms: from probabilistic modelling to experiments with real robots

18. Decoding the Mechanisms of Gait Generation and Gait Transition in the Salamander Using Robots and Mathematical Models