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Auke Ijspeert

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Publications associées (313)

Online Gait Transitions and Disturbance Recovery for Legged Robots via the Feasible Impulse Set

Auke Ijspeert, Chiheb Boussema

Gaits in legged robots are often hand tuned and time based, either explicitly or through an internal clock, for instance, in the form of central pattern generators. This strategy requires trial and error to identify leg timings, which may not be suitable i ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2019

The current state and future outlook of rescue robotics

Dario Floreano, Roland Siegwart, Auke Ijspeert, Davide Scaramuzza, Stefano Mintchev, Tomislav Horvat, Kamilo Andres Melo Becerra, Marco Hutter

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...

2019

Decoding the essential interplay between central and peripheral control in adaptive locomotion of amphibious centipedes

Auke Ijspeert

Amphibious animals adapt their body coordination to compensate for changing substrate properties as they transition between terrestrial and aquatic environments. Using behavioural experiments and mathematical modelling of the amphibious centipede Scolopend ...

Nature Research2019

Bipedal walking and push recovery with a stepping strategy based on time-projection control

Auke Ijspeert, Seyed Hamed Razavi, Salman Faraji

In this paper, we present a simple control framework for online push recovery on biped robots with dynamic stepping properties. Owing to relatively heavy legs in our humanoid robot COMAN, we use a linear model called 3LP, which is composed of three pendulu ...

SAGE PUBLICATIONS LTD2019

Undulatory swimming control with local exteroceptive sensory feedback

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

OXFORD UNIV PRESS INC2019

From standing balance to walking: A single control structure for a continuum of gaits

Auke Ijspeert, Seyed Hamed Razavi, Salman Faraji

This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...

2019

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu, Simon Lukas Hauser, Hala Khodr

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 ...

2019

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

Bio-inspired standing balance controller for a full-mobilization exoskeleton

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

This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the posit ...

IEEE2019

Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion

Auke Ijspeert, Shura Suzuki

Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...

IOP PUBLISHING LTD2019

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

Dario Floreano, Auke Ijspeert, Carine Rognon, Amy Roning Wu, Vivek Ramachandran

Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to use. ...

2019

Neuromuscular model achieving speed control and steering with a 3D bipedal walker

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot

Nowadays, very few humanoid robots manage to travel in our daily environments. This is mainly due to their limited locomotion capabilities, far from the human ones. Recently, we developed a bio-inspired torque-based controller recruiting virtual muscles dr ...

SPRINGER2019

Control theory in biology and medicine: Introduction to the special issue

Auke Ijspeert

From September-December 2017, the Mathematical Biosciences Institute at Ohio State University hosted a series of workshops on control theory in biology and medicine, including workshops on control and modulation of neuronal and motor systems, control of ce ...

SPRINGER2019

A simple model of mechanical effects to estimate metabolic cost of human walking

Auke Ijspeert, Salman Faraji, Amy Roning Wu

Since the advent of energy measurement devices, gait experiments have shown that energetic economy has a large influence on human walking behavior. However, few cost models have attempted to capture the major energy components under comprehensive walking c ...

Nature Research2018

Effects of passive and active joint compliance in quadrupedal locomotion

Auke Ijspeert, Alexandre Bernardino, Mehmet Hasan Mutlu

Compliance of the body has a crucial role on locomotion performance. The levels and the distribution of compliance should be well tuned to obtain efficient gait. The leg stiffness changes significantly even during different phases of a single gait cycle. T ...

TAYLOR & FRANCIS LTD2018

Bio-inspired controller achieving forward speed modulation with a 3D bipedal walker

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot

2018

Human Intention Detection as a Multiclass Classification Problem: Application in Physical Human-Robot Interaction While Walking

Auke Ijspeert, Seyed Hamed Razavi, Jessica Lanini

2018

Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian, Massimo Vespignani, Peter Eckert

2018

Modeling robot geometries like molecules, application to fast multi-contact posture planning for humanoids

Auke Ijspeert, Salman Faraji

Traditional joint-space models used to describe equations of motion for humanoid robots offer nice properties linked directly to the way these robots are built. However, from a computational point of view and convergence properties, these models are not th ...

Ieee-Inst Electrical Electronics Engineers Inc2018

Preface: special issue on adaptive motion of animals and machines (1)

Auke Ijspeert

TAYLOR & FRANCIS LTD2018

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