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Auke Ijspeert

Cette personne a quitté l’EPFL

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Publications associées (301)

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Mechanics of very slow human walking

Auke Ijspeert, Amy Roning Wu

Human walking speeds can be influenced by multiple factors, from energetic considerations to the time to reach a destination. Neurological deficits or lower-limb injuries can lead to slower walking speeds, and the recovery of able-bodied gait speed and beh ...

Springer Nature2019

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

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Laura Isabel Paez Coy, Kamilo Andres Melo Becerra

Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythm ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

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

iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research

Auke Ijspeert, Ludovic Righetti

The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with ...

2007

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Soha Pouya, Salman Faraji

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Adaptive Compliant Foot Design for Salamander Robots

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

Aquatic stepping gaits in animals arguably display higher speed performance as well as energetic efficiency compared to other gaits using the limbs (i.e walking). This suggest that the foot structure and function contributes at a great extent on the propul ...

IEEE2019

Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept

Auke Ijspeert, Léonie Asboth, Salif Axel Komi, Grégoire Courtine, Miroslav Caban, Camille Claire Varescon, Nicolas Hankov, Fabien Bertrand Paul Wagner, Robin Jonathan Demesmaeker, Margaux Roulet, Jocelyne Bloch, Henri Charles Alexandre Lorach, Edeny Baaklini, Jimmy James Ravier, Francesco Acquati, Cathal John Harte, Nadine Intering, Frédéric Norbert Merlos

Rehabilitation robotics aims to promote activity-dependent reorganization of the nervous system. However, people with paralysis cannot generate sufficient activity during robot-assisted rehabilitation and, consequently, do not benefit from these therapies. ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain

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

Search and rescue (SAR) missions are being carried out by several types of robots. They include ground, marine and air vehicles depending on the terrain and mission to be tackled. A particular niche for SAR activities are shallow waters. They present high ...

IEEE2015

Symmetry breaking and gait transition induced by hydrodynamic sensory feedback in an anguilliform swimming robot

Auke Ijspeert, Laura Isabel Paez Coy

The goal of this article is to identify and understand the fundamental role of spatial symmetries in the emergence of undulatory swimming using an anguilliform robot. Here, the local torque at the joints of the robot is controlled by a chain of oscillators ...

2024

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

Auke Ijspeert, Jesse van den Kieboom

Biped locomotion has been extensively studied using various approaches, including Passive Dynamic Walking, ZMP-based control and biologically inspired muscle models. In biped locomotion robotics, there has been an increasing interest in variable impedance ...

2013

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Auke Ijspeert, Alessandro Crespi, Jonathan Patrick Arreguit O'Neill

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Elsevier2025

Propulsion module for generating wave-like motion

Auke Ijspeert, Peter Eckert, Mohammadreza Bayat

The present invention relates to a propulsion module (1) for generating wave-like motion in liquid. The propulsion module (1) comprises: a motor (7) for generating rotational motion; a set of conversion devices comprising a first conversion device (91) and ...

2020

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Auke Ijspeert, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

Frontiers Research Foundation2014

From lamprey to salamander: an exploratory modeling study on the architecture of the spinal locomotor networks in the salamander

Auke Ijspeert, Andrej Bicanski

The evolutionary transition from water to land required new locomotor modes and corresponding adjustments of the spinal "central pattern generators" for locomotion. Salamanders resemble the first terrestrial tetrapods and represent a key animal for the stu ...

Springer Berlin Heidelberg2013

3LP: a linear 3D-walking model including torso and swing dynamics

Auke Ijspeert, Salman Faraji

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

SAGE Publications2017

Dynamical system for learning the waveform and frequency of periodic signals - application to drumming

Auke Ijspeert, Sarah Dégallier Rochat

The paper presents a two-layered system for learning and encoding a periodic signal and its application to a drumming task. The two layers are the dynamical system responsible for extracting the main frequency of the input signal, based on adaptive frequen ...

2008

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

Adaptive Locomotion Control in Modular Robotics

Auke Ijspeert, Jérôme Maye, Masoud Asadpour, Rico Möckel, Alexander Spröwitz

2007

AmphiBot II: An Amphibious Snake Robot that Crawls and Swims using a Central Pattern Generator

Auke Ijspeert, Alessandro Crespi

2006