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Auke Ijspeert

Cette personne a quitté l’EPFL

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Publications associées (301)

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Gait Optimization for Roombots Modular Robots - Matching Simulation and Reality

Auke Ijspeert, Alexander Spröwitz, Massimo Vespignani, Rico Möckel, Soha Pouya, Stéphane Bonardi

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time con- suming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimizat ...

2013

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

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

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

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

Pierre Dillenbourg, Auke Ijspeert, Aude Billard, Alexander Spröwitz

We aim at merging technologies from information technology, roomware, and robotics in order to design adaptive and intelligent furniture. This paper presents design principles for our modular robots, called Roombots, as future building blocks for furniture ...

2009

Adaptive Oscillators with Human-in-the-Loop: Proof of Concept for Assistance and Rehabilitation

Auke Ijspeert, Jesse van den Kieboom

Most recent findings in robot-assisted therapy suggest that the therapy is more successful if the patient actively participates to the movement (“assistance-as-needed”). In the present contribution, we propose a novel approach for designing highly flexible ...

IEEE2010

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

Central pattern generators for locomotion control in animals and robots: a review

Auke Ijspeert

The problem of controlling locomotion is an area in which neuroscience and robotics can fruitfully interact. In this article, I will review research carried out on locomotor central pattern generators (CPGs), i.e. neural circuits capable of producing coord ...

2008

Trajectory Planning of a Bio-inspired Walker in 3D Cluttered Environments using Internal Models

Auke Ijspeert, Nicolas Benoît Dominique Van der Noot

Navigation of humanoids in cluttered environments is a complex task which requires sensorimotor coordination while maintaining the balance of the walker. Typically, robots rely on greedy computation of slow, inefficient and unnatural gaits. This contrasts ...

IEEE2020

Compliant universal grippers as adaptive feet in legged robots

Auke Ijspeert, Simon Lukas Hauser, Mehmet Hasan Mutlu

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

2018

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

Alessandro Menichelli, Auke Ijspeert, Aude Billard, 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

Oscillator-based assistance of cyclical movements: model-based and model-free approaches

Auke Ijspeert, Jesse van den Kieboom

In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assist ...

Springer-Verlag2011

A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury

Auke Ijspeert, Grégoire Courtine, Jocelyne Bloch, Marco Capogrosso, Joachim von Zitzewitz, Nicolas Francis Fumeaux, Jean-Baptiste Mignardot, Jessica Lanini, Selin Anil

Gait recovery after neurological disorders requires remastering the interplay between body mechanics and gravitational forces. Despite the importance of gravity-dependent gait interactions and active participation for promoting this learning, these essenti ...

Amer Assoc Advancement Science2017

Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

Auke Ijspeert

The framework of dynamic movement primitives (DMPs) contains many favorable properties for the execution of robotic trajectories, such as indirect dependence on time, response to perturbations, and the ability to easily modulate the given trajectories, but ...

Ieee-Inst Electrical Electronics Engineers Inc2014

JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support

Auke Ijspeert, Jamie Paik, Simon Lukas Hauser, Matthew Aaron Robertson

In robotics, controlling the stiffness of the joints that contribute to the robots’ degree of freedom dictates the adaptability, versatility, and safety of the whole system.We can achieve variable stiffness or impedance in a robotic system purely by the co ...

2017

Identifying important sensory feedback for learning locomotion skills

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

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

Learning Human-Robot Handshaking Preferences for Quadruped Robots

Alessandra Chappuis, Auke Ijspeert, Guillaume Denis Antoine Bellegarda

Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to be adaptable to ...

IEEE Computer Society2024

Optimal Search Strategies for Pollutant Source Localization

Auke Ijspeert, Mohammadreza Bayat

This paper is aimed at developing optimal motion planning for a single autonomous surface vehicle (ASV) equipped with an on-board pollutant sensor that will maximize the sensor-related information available for source seeking. The ASV uses a nonlinear diff ...

Ieee2016

Biorobotics: Using robots to emulate and investigate agile animal locomotion

Auke Ijspeert

The graceful and agile movements of animals are difficult to analyze and emulate because locomotion is the result of a complex interplay of many components: the central and peripheral nervous systems, the musculoskeletal system, and the environment. The go ...

Amer Assoc Advancement Science2014

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

Auke Ijspeert, Mohamed Bouri, 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

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

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

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

The Human Central Pattern Generator for Locomotion: Does It Exist and Contribute to Walking?

Auke Ijspeert, Florin Dzeladini, Karen Minassian

The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal prepar ...

Sage Publications Inc2017