Publications de Auke Ijspeert | EPFL Graph Search

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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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Human locomotion is characterized by remarkable versatility, enabling smooth speed modulation, acceleration, deceleration, and transitions between gaits. This versatility is thought to emerge from interactions between the musculoskeletal system, spinal circuits—including reflexes and central pattern generators—and supraspinal control. The relative contributions of these components remain a subject of ongoing debate. In this study, we explore the potential role of reflex modulation in achieving the observed

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. ...

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 ...

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 ...

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 ...

Robots are increasingly used as scientific tools to investigate animal locomotion. However, designing a robot that properly emulates the kinematic and dynamic properties of an animal is difficult because of the complexity of musculoskeletal systems and the limitations of current robotics technology. Here we propose a design process that combines high-speed cineradiography, optimization, dynamic scaling, 3D printing, high-end servomotors, and a tailored dry-suit to construct Pleurobot: a salamander-like robo

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 ...

Fish display remarkable locomotor and social abilities, from efficient swimming to coordinated schooling, that have inspired the design of various robotic fish. While robotics has largely benefited from biology, fish-like robots are increasingly used as scientific tools to investigate fundamental questions in biomechanics, sensorimotor control, and collective behavior. This paper reviews how robotic models have been employed to study the neuromechanical basis of swimming, the role of sensory feedback in loc

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 ...

Many aquatic animals, including larval zebrafish, exhibit intermittent locomotion, moving via discrete swimming bouts followed by passive glides rather than continuous movement. However, fundamental questions remain unresolved: What neural mechanisms drive this behavior, and what functional benefits does this behavior offer? Specifically, is intermittent swimming more energy efficient than continuous swimming, and, if so, by what mechanism? Live-animal experiments pose technical challenges, because observin

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment

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 ...

Quadrupedal locomotion arises from a complex interplay between spinal neuronal circuits, descending brain signals, musculoskeletal interactions, and sensory feedback, enabling adaptive speed and terrain-dependent gait transitions. However, the underlying neural mechanisms involved in limb coordination are poorly understood. Here, we present a proof-of-concept 3D closed-loop neuromechanical model of a mouse that can be used to study interactions between the spinal circuitry and afferent feedback and their ro

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 ...

Auke Ijspeert

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

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster

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

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

Accelerated Sensorimotor Learning of Compliant Movement Primitives

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Modulating reflexes enables speed control in simulated human walking and running

Predictive Gaze Stabilization During Periodic Locomotion Based On Adaptive Frequency Oscillators

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

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

The role of feedback in morphological computation with compliant bodies

From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators

Swimming with robots: investigating fish locomotion, sensing, and schooling behavior with robotic swimmers

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

Energy efficiency and neural control of continuous versus intermittent swimming in a fishlike robot

Push recovery with stepping strategy based on time-projection control

Autonomous Learning of Internal Dynamic Models for Reaching Tasks

On All Fours: A 3D Framework to Study Closed-loop Control of Quadrupedal Mouse Locomotion

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