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Auke Ijspeert

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Publications associées (313)

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

Auke Ijspeert, Henri Charles Alexandre Lorach, Thibault Jean Etienne Collin, Icare Sakr

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 ...

Public Library Science2024

Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons

Mohamed Bouri, Auke Ijspeert, Andrea Di Russo, Ali Reza Manzoori, Sara Messara

Neuromuscular controllers (NMCs) offer a promising approach to adaptive and task-invariant control of exoskeletons for walking assistance, leveraging the bioinspired models based on the peripheral nervous system. This article expands on our previous develo ...

CAMBRIDGE UNIV PRESS2024

Quadruped-Frog: Rapid Online Optimization of Continuous Quadruped Jumping

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Legged robots are becoming increasingly agile in exhibiting dynamic behaviors such as running and jumping. Usually, such behaviors are either optimized and engineered offline (i.e. the behavior is designed for before it is needed), either through model-bas ...

Institute of Electrical and Electronics Engineers Inc.2024

Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Quadruped animals are capable of seamless transitions between different gaits. While energy efficiency appears to be one of the reasons for changing gaits, other determinant factors likely play a role too, including terrain properties. In this article, we ...

Nature Portfolio2024

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization

Mohamed Bouri, Auke Ijspeert, Ali Reza Manzoori

Background: Efficient gait assistance by augmentative exoskeletons depends on reliable control strategies. While numerous control methods and their effects on the metabolic cost of walking have been explored in the literature, the use of different exoskele ...

Frontiers Media Sa2024

Symmetry breaking and gait transition induced by hydrodynamic sensory feedback in an anguilliform swimming robot

Auke Ijspeert, Laura Isabel Paez Coy

The goal of this article is to identify and understand the fundamental role of spatial symmetries in the emergence of undulatory swimming using an anguilliform robot. Here, the local torque at the joints of the robot is controlled by a chain of oscillators ...

2024

Fast ground-to-air transition with avian-inspired multifunctional legs

Dario Floreano, Auke Ijspeert, Won Dong Shin, Hoang Vu Phan

Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping, and leaping, and jumping take-off for transitions ...

Springer Science and Business Media LLC2024

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

Dario Floreano, Auke Ijspeert, Mohammad Askari, Hoang Vu Phan

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 ...

Springer Science and Business Media LLC2024

Visual CPG-RL: Learning Central Pattern Generators for Visually-Guided Quadruped Locomotion

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

We present a framework for learning visually-guided quadruped locomotion by integrating exteroceptive sensing and central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework. Through both ext ...

Institute of Electrical and Electronics Engineers Inc.2024

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

Auke Ijspeert, Kamilo Andres Melo Becerra, Karen Ann J Mulleners, Alexandros Anastasiadis

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. ...

American Physical Society (APS)2024

Asymmetric fin shape changes swimming dynamics of ancient marine reptiles' soft robophysical models

Auke Ijspeert

Animals have evolved highly effective locomotion capabilities in terrestrial, aerial, and aquatic environments. Over life's history, mass extinctions have wiped out unique animal species with specialized adaptations, leaving paleontologists to reconstruct ...

Bristol2024

Real-Time Localization for Closed-Loop Control of Assistive Furniture

Auke Ijspeert, Alexandre Massoud Alahi, George Adaimi, Chuanfang Ning, Lixuan Tang, Anastasia Bolotnikova

For people with limited mobility, navigating in cluttered indoor environment is challenging. In this work, we propose a mobile assistive furniture suite that is designed to ease the life of people with special needs in indoor movement. To enable intelligen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance

Mohamed Bouri, Auke Ijspeert, Andrea Di Russo, Ali Reza Manzoori, Sara Messara

Exoskeletons intended for partial assistance of walking should be able to follow the gait pattern of their users, via online adaptive control strategies rather than imposing predefined kinetic or kinematic profiles. NeuroMuscular Controllers (NMCs) are ada ...

2023

Identifying important sensory feedback for learning locomotion skills

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Robot motor skills can be acquired by deep reinforcement learning as neural networks to reflect state-action mapping. The selection of states has been demonstrated to be crucial for successful robot motor learning. However, because of the complexity of neu ...

NATURE PORTFOLIO2023

Animal robots in the African wilderness: Lessons learned and outlook for field robotics

Auke Ijspeert, Tomislav Horvat, Kamilo Andres Melo Becerra

In early 2016, we had the opportunity to test a pair of sprawling posture robots, one designed to mimic a crocodile and another designed to mimic a monitor lizard, along the banks of the Nile River in Uganda, Africa. These robots were developed uniquely fo ...

Amer Assoc Advancement Science2023

End-to-End Planner for Self-Reconfigurable Modular Robots Collaborative Objects Manipulation, Transport and Handover to Human Application

Auke Ijspeert, Aurélien Arthur Enzo Morel, Yi Zhou Ju, Anastasia Bolotnikova

Collaborative object manipulation and transport with self-reconfigurable modular robots can take a major role in improving modularity and adaptability of smart-home and factory-like environments. Controlling modules to achieve efficient behaviours is chall ...

IEEE2023

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Karen Ann J Mulleners, Alexandros Anastasiadis, Eric Daniel Tytell

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

Nature Research2023

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