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Auke Ijspeert

Cette personne a quitté l’EPFL

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Publications associées (301)

Page 3 sur 16

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromusc ...

Frontiers Research Foundation2017

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster

Auke Ijspeert, Pavan P Ramdya, Jonathan Patrick Arreguit O'Neill, Shravan Tata Ramalingasetty, Victor Lobato Rios, Pembe Gizem Ozdil

Animal behavior emerges from an interaction between neural network dynamics, musculoskeletal properties and the physical environment. Accessing and understanding the interplay between these elements requires the development of integrative and morphological ...

Nature Publishing Group2022

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

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

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

A Muscle-Reflex Model of Forelimb and Hindlimb of Felidae Family of Animal with Dynamic Pattern Formation Stimuli

Auke Ijspeert

Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...

IEEE2020

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Auke Ijspeert, Tadej Petric, Luca Colasanto

Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2018

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Alexandre Bernardino, Hala Khodr

Self-reconfiguration is a hard problem due to the high dimensionality of self-reconfigurable modular systems. Searchbased approaches offer complete and optimal solutions. However, naive search algorithms cannot directly solve self-reconfiguration tasks in ...

2019

Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

Auke Ijspeert, Salman Faraji, Luca Colasanto

Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...

2015

Predictive Gaze Stabilization During Periodic Locomotion Based On Adaptive Frequency Oscillators

Auke Ijspeert, Sébastien Gay

In this paper we present an approach to the problem of stabilizating the gaze of legged robots using Adaptive Frequency Oscillators to learn the frequency, phase and amplitude of the optical flow and generate compensatory commands during robot locomotion. ...

Ieee2012

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

Auke Ijspeert, Alexander Spröwitz, Massimo Vespignani, Mostafa Ajallooeian, Alexandre Tuleu

We present robot design and results from locomotion experiments with a novel, compliant quadruped robot: Cheetah-cub. The robot's leg configuration is based on a spring-loaded, panthograph-mechanism with multiple segments. A dedicated open-loop, joint-spac ...

2013

The role of feedback in morphological computation with compliant bodies

Auke Ijspeert

The generation of robust periodic movements of complex nonlinear robotic systems is inherently difficult, especially, if parts of the robots are compliant. It has previously been proposed that complex nonlinear features of a robot, similarly as in biologic ...

Springer Verlag2012

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators

Auke Ijspeert, Ludovic Righetti, Jonas Buchli

Oscillators have two main limitations: their synchronization properties are limited (i.e., they have a finite synchronization region) and they have no memory of past interactions (i.e., they return to their intrinsic frequency whenever the entraining signa ...

SIAM PUBLICATIONS2021

Reverse-engineering the locomotion of a stem amniote

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat, Konstantinos Karakasiliotis

Reconstructing the locomotion of extinct vertebrates offers insights into their palaeobiology and helps to conceptualize major transitions in vertebrate evolution. However, estimating the locomotor behaviour of a fossil species remains a challenge because ...

2019

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

Auke Ijspeert, Massimo Vespignani, Rico Möckel, Stéphane Bonardi

Manipulation and transport of objects using mobile robotic platforms is a well studied field with several successful approaches. The main difficulty while using such platforms is the lack of adaptation capabilities to changes in the environment and the res ...

2013

Autonomous Learning of Internal Dynamic Models for Reaching Tasks

Auke Ijspeert, Tadej Petric

The paper addresses the problem of learning internal task-specific dynamic models for a reaching task. Using task-specific dynamic models is crucial for achieving both high tracking accuracy and compliant behaviour, which improves safety concerns while wor ...

Springer-Verlag Berlin2016

A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation

Auke Ijspeert

In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, a ...

IEEE2020

Co-evolution of Structures and Controllers for Neubot Underwater Modular Robots

Auke Ijspeert, Dario Floreano

This article presents the first results of a project in underwater modular robotics, called Neubots. The goals of the projects are to explore, following Von Neumann’s ideas, potential mechanisms underlying self-organization and self-replication. We briefly ...

Springer Verlag2005

Gait-dependent Traversability Estimation on the k-rock2 Robot

Auke Ijspeert, Matthew Alfonso Estrada

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

IEEE2022

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

Auke Ijspeert, José Santos-Victor, Sébastien Gay

In this paper we present a framework to learn a model-free feedback controller for locomotion and balance control of a compliant quadruped robot walking on rough terrain. Having designed an open-loop gait encoded in a Central Pattern Generator (CPG), we us ...

2013

A neuromechanics solution for adjustable robot compliance and accuracy

Auke Ijspeert, Grégoire Courtine, Alice Julie Bruel

Robots have to adjust their motor behavior to changing environments and variable task requirements to successfully operate in the real world and physically interact with humans. Thus, robotics strives to enable a broad spectrum of adjustable motor behavior ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Emergent adaptive gait generation through Hebbian sensor-motor maps by morphological probing

Auke Ijspeert, Mehmet Hasan Mutlu, Simon Lukas Hauser, Jonathan Patrick Arreguit O'Neill

Gait emergence and adaptation in animals is unmatched in robotic systems. Animals can create and recover locomotive functions "on-the-fly" after an injury whereas locomotion controllers for robots lack robustness to morphological changes. In this work, we ...

IEEE2020