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Auke Ijspeert

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Publications associées (313)

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Auke Ijspeert, Shura Suzuki

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control und ...

2021

Review of control strategies for lower-limb exoskeletons to assist gait

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Auke Ijspeert, Andrea Di Russo, Stéphane Armand, Dimitar Yuriev Stanev

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central ...

2021

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

Auke Ijspeert, Shura Suzuki

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body-limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of ...

FRONTIERS MEDIA SA2021

A Whole-Body Musculoskeletal Model of the Mouse

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Grégoire Courtine, Dimitri Bruno Marie Rodarie, Claudia Kathe

Neural control of movement cannot be fully understood without careful consideration of interactions between the neural and biomechanical components. Recent advancements in mouse molecular genetics allow for the identification and manipulation of constituen ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Wearable Sensor-Based Real-Time Gait Detection: A Systematic Review

Auke Ijspeert, Urs Keller, Grégoire Courtine, Miroslav Caban, Joachim von Zitzewitz, Hari Prasanth

Gait analysis has traditionally been carried out in a laboratory environment using expensive equipment, but, recently, reliable, affordable, and wearable sensors have enabled integration into clinical applications as well as use during activities of daily ...

2021

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

A spiking central pattern generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards

Auke Ijspeert, Axel von Arnim, Jonathan Patrick Arreguit O'Neill, Emmanouil Angelidis

Central pattern generator (CPG) models have long been used to investigate both the neural mechanisms that underlie animal locomotion, as well as for robotic research. In this work we propose a spiking central pattern generator (SCPG) neural network and its ...

Iop Publishing Ltd2021

Design and development of the efficient anguilliform swimming robot- MAR

Auke Ijspeert, Peter Eckert, Anouk Looijestijn

Propulsion of swimming robots at the surface and underwater is largely dominated by rotary propellers due to high thrust, but at the cost of low efficiency. Due to their inherently high speed turning motion, sharp propeller blades and generated noise, they ...

2020

Roombots extended: Challenges in the next generation of self-reconfigurable modular robots and their application in adaptive and assistive furniture

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu

Elsevier2020

Walking with Salamanders: From Molecules to Biorobotics

Auke Ijspeert

How do four-legged animals adapt their locomotion to the environment? How do central and peripheral mechanisms interact within the spinal cord to produce adaptive locomotion and how is locomotion recovered when spinal circuits are perturbed? Salamanders ar ...

ELSEVIER SCIENCE LONDON2020

Spatiotemporal Maps of Proprioceptive Inputs to the Cervical Spinal Cord During Three-Dimensional Reaching and Grasping

Auke Ijspeert, Pierre Charles Marie Kibleur, Marco Capogrosso, Sara Conti, Nathan Antoine Greiner, Beatrice Barra, Shravan Tata Ramalingasetty

Proprioceptive feedback is a critical component of voluntary movement planning and execution. Neuroprosthetic technologies aiming at restoring movement must interact with it to restore accurate motor control. Optimization and design of such technologies de ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Special Issue on Adaptive Motion of Animals and Machines PREFACE

Auke Ijspeert

TAYLOR & FRANCIS LTD2020

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from ...

2020

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

Kinematic and dynamic analysis of the mosquito larvae gait

Auke Ijspeert, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra, Mahmut Selman Sakar

OXFORD UNIV PRESS INC2020

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

Auke Ijspeert, Azhar Aulia Saputra

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

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Auke Ijspeert, Anne Daniëlle Koelewijn

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

FRONTIERS MEDIA SA2020

A Neuro-Inspired Computational Model for a Visually Guided Robotic Lamprey Using Frame and Event Based Cameras

Auke Ijspeert, Alessandro Crespi, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser, Jorg Conradt, Ibrahim Youssef Youssef

The computational load associated with computer vision is often prohibitive, and limits the capacity for on-board image analysis in compact mobile robots. Replicating the kind of feature detection and neural processing that animals excel at remains a chall ...

2020

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Auke Ijspeert

A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...

2020

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