Publications de Auke Ijspeert | EPFL Graph Search

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Vertebrate locomotion is due to the interplay of neural oscillators and sensory feedback loops in the spinal cord that interact with the body and the environment. Here, we study these circuits with a focus on undulatory locomotion as produced by elongated ...

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

The growing demand for online gait phase (GP) estimation, driven by advancements in exoskeletons and prostheses, has prompted numerous approaches in the literature. Some approaches explicitly use time, while others rely on state variables to estimate the G ...

Complex interactions between brain regions and the spinal cord (SC) govern body motion, which is ultimately driven by muscle activation. Motor planning or learning are mainly conducted at higher brain regions, whilst the SC acts as a brain-muscle gateway a ...

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

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 ...

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 ...

While movement is essential to human wellbeing, we are still unable to reproduce the deftness and robustness of human movement in automatons or completely restore function to individuals with many types of motor impairment. To better understand how the hum ...

This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory ...

Vertebrate animals exhibit impressive locomotor skills. These locomotor skills are due to the complex interactions between the environment, the musculo-skeletal system and the central nervous system, in particular the spinal locomotor circuits. We are inte ...

Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to use. ...

We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a mobile furniture ...

The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional bioinspired control f ...

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 ...

Animals have to coordinate a large number of muscles in different ways to efficiently move at various speeds and in different and complex environments. This coordination is in large part based on central pattern generators (CPGs). These neural networks are ...

Nowadays, very few humanoid robots manage to travel in our daily environments. This is mainly due to their limited locomotion capabilities, far from the human ones. Recently, we developed a bio-inspired torque-based controller recruiting virtual muscles dr ...

: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...

Auke Ijspeert

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Multisensory feedback makes swimming circuits robust against spinal transection and enables terrestrial crawling in elongate fish

Bipedal walking and push recovery with a stepping strategy based on time-projection control

State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking

The spinal cord facilitates cerebellar upper limb motor learning and control; inputs from neuromusculoskeletal simulation

Imprecise dynamic walking with time-projection control

Modeling Discrete and Rhythmic Movements through Motor Primitives: A Review

Roombots: Reconfigurable Robots for Adaptive Furniture

Hammering Does Not Fit Fitts' Law

Combining Reflexes and External Sensory Information in a Neuromusculoskeletal Model to Control a Quadruped Robot

Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion

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

A Salamander’s Flexible Spinal Network for Locomotion, Modeled at Two Levels of Abstraction

Neuromuscular model achieving speed control and steering with a 3D bipedal walker

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain