Publications de Auke Ijspeert | EPFL Graph Search

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In this paper we present our work on integrating a locomotion controller based on central pattern generator (CPG) and a motion planning algorithm using artificial potential fields for a non-holonomic crawling humanoid robot, the iCub. We also integrated a ...

The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. The vision of morphological computation proposes to view these aspects not only as problems, but rather also as parts of the solution. Non-rigid bo ...

In this article, we propose a multi-staged algorithm to detect the magnitude, direction and location of a single external force applied to a humanoid robot while performing dynamic tasks. We use contact force and joint torque sensors as well as IMU to estimate accelerations and build the equation of motion. Then using a search process and based on Jacobian decomposition, we analytically find the point on the whole body which can best account for the error observed in the equation of motion. The method can p

This paper provides a robustness analysis of the method we recently developed for rhythmic movement assistance using adaptive oscillators. An adaptive oscillator is a mathematical tool capable of extracting high-level features (i.e. amplitude, frequency, offset) of a quasi-sinusoidal measured movement, a rhythmic flexion-extension of the elbow in this case. By the use of a simple inverse dynamical model, the system can predict the torque produced by a human participant, such that a fraction of this estimate

Currently, there are more than 30 million amputees in the world and each year thousands of people suffer from amputation and, therefore, the development of lower limb prostheses is crucial to improve the quality of millions of people's lives by restoring t ...

Spine movements play an important role in quadrupedal locomotion, yet their potential benefits in locomotion of quadruped robots have not been systematically explored. In this work, we investigate the role of spinal joint actuation and compliance on the bo ...

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 ...

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission t ...

Understanding and adapting the underlying principles of biological systems to engineering systems have the promise of enabling many new mechatronic systems that can operate in unstructured and uncertain environments robustly and efficiently. This paper fir ...

This work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...

Extant animals occupy only a slim fraction of the evolutionary design space, leaving many high-performance morphologies unexplored without living analogues for dynamic testing. While extinct lineages lack extant model systems for comparative biomechanics, their movement dynamics can be emulated through robophysical modeling. Here, we investigate the extreme weaponization of glyptodont tails - culminating in Doedicurus - utilizing a life-sized, high-fidelity palaeorobotic strike rig. Guided by comparative an

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amp ...

Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state r ...

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

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 ...

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biolog ...

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor control is possible th ...

In this paper, we present Salamandra robotica II: an amphibious salamander robot that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on the ground. The paper first ...

More and more biologically inspired robots present spines with multiples degrees of freedom to resemble their biological counterparts. The function of the spine on both animal and robot can play an important role in locomotion. If it has enough degrees of ...

Learning a locomotion policy for quadruped robots has traditionally been constrained to a specific robot morphology, mass, and size. The learning process must usually be repeated for every new robot, where hyperparameters and reward function weights must b ...

Auke Ijspeert

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Integration of vision and central pattern generator based locomotion for path planning of a non-holonomic crawling humanoid robot

Towards a theoretical foundation for morphological computation with compliant bodies

A virtual tactile sensing suit for humanoids based on dynamic equations and internal sensors

Assistance using adaptive oscillators: Robustness to errors in the identification of the limb parameters

Development of a simulated transtibial amputee model

Spinal joint compliance and actuation in a simulated bounding quadruped robot

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

Passive compliant quadruped robot using central pattern generators for locomotion control

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

On Designing An Active Tail For Body-Pitch Control In Legged Robots Via Decoupling Of Control Objectives

PALAEOROBOTICS UNCOVERS DEVASTATING MAMMALIAN TAIL STRIKE DYNAMICS

Online optimization of swimming and crawling in an amphibious snake robot

Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

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

Towards rich motion skills with the lightweight quadruped robot Serval

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

Spine Controller for a Sprawling Posture Robot

ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots