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Auke Ijspeert

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Publications associées (313)

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

Mohamed Bouri, Auke Ijspeert, Ali Reza Manzoori, Tian Ye

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 ...

IEEE2023

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

Mohamed Bouri, Auke Ijspeert, Davide Malatesta, Coline Lugaz, Ali Reza Manzoori, Tian Ye

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

IEEE Xplore2023

Agent Prioritization and Virtual Drag Minimization in Dynamical System Modulation For Obstacle Avoidance of Decentralized Swarms

Aude Billard, Auke Ijspeert, Lukas Huber, Anastasia Bolotnikova

Efficient and safe multi-agent swarm coordination in environments where humans operate, such as warehouses, assistive living rooms, or automated hospitals, is crucial for adopting automation. In this paper, we augment the obstacle avoidance algorithm based ...

IEEE2023

A spinal cord neuroprosthesis for locomotor deficits due to Parkinson's disease

Auke Ijspeert, Tomislav Milekovic, Léonie Asboth, Camille Georgette Marie Le Goff-Mignardot, Giuseppe Schiavone, Elvira Pirondini, Stéphanie Lacour, Silvestro Micera, Grégoire Courtine, Eduardo Martin Moraud, Marco Capogrosso, David Allenson Borton, Jean François Pierre Laurens, Jean-Baptiste Mignardot, Flavio Raschella, Robin Jonathan Demesmaeker, Simon Borgognon, Jocelyne Bloch, Shiqi Sun, Sergio Daniel Hernandez, Jordan Squair, Nicolò Macellari, Jimmy James Ravier, Carmina Andrea Galvez Solano, Grégory Didier Dumont

People with late-stage Parkinson's disease (PD) often suffer from debilitating locomotor deficits that are resistant to currently available therapies. To alleviate these deficits, we developed a neuroprosthesis operating in closed loop that targets the dor ...

Nature Portfolio2023

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Auke Ijspeert, Andrea Di Russo, Stéphane Armand, Dimitar Yuriev Stanev, Anushree Bapusaheb Sabnis

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Iop Publishing Ltd2023

Stability and manoeuvrability in animal movement: lessons from biology, modelling and robotics

Auke Ijspeert

ROYAL SOC2022

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

Auke Ijspeert, Guillaume Denis Antoine Bellegarda

In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The agent learns to ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Investigation of neural and biomechanical impairments leading to pathological toe and heel gaits using neuromusculoskeletal modelling

Auke Ijspeert, Grégoire Courtine, Andrea Di Russo, Dimitar Yuriev Stanev

This study investigates the pathological toe and heel gaits seen in human locomotion using neuromusculoskeletal modelling and simulation. In particular, it aims to investigate potential cause-effect relationships between biomechanical or neural impairments ...

WILEY2022

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

Auke Ijspeert, Azhar Aulia Saputra

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 ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

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

Aude Billard, Auke Ijspeert, Lukas Huber, Anastasia Bolotnikova

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 ...

IEEE2022

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Wei Wang, Emmanouil Angelidis

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

NeuroMechFly, a neuromechanical model of adult Drosophila melanogaster

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

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 PORTFOLIO2022

Gait-dependent Traversability Estimation on the k-rock2 Robot

Auke Ijspeert, Matthew Alfonso Estrada, Mohammadreza Ebrahimi

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

A New Methodological Approach to Analyze Human Roles in Human-Robot Interaction Scenarios

Auke Ijspeert

The influence of robotics in the job market has socio-economic consequences and the inevitable loss of job positions, but in the Human-Robot Interaction (HRI) scenarios, where humans and robots work together, new jobs and business models will be created. T ...

IEEE2022

Control of Aquatic and Terrestrial Gaits in Salamander

Auke Ijspeert

Springer Science+Business Media2022

Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation

Dario Floreano, Auke Ijspeert, Matthew Alfonso Estrada, William John Stewart, Won Dong Shin

Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on an invert ...

2022

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

IEEE2021

Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu

In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be p ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

Auke Ijspeert, Robin Thandiackal, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Kyoichi Akiyama

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

AMER ASSOC ADVANCEMENT SCIENCE2021

Performance tradeoffs in anguilliform swimming via viscoelastic modulation

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra

OXFORD UNIV PRESS INC2021

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