Publications associées à Effects of passive and active joint compliance in quadrupedal locomotion

Publications associées (37)

Design of robotic physical intelligence

Bridging the performance gap between robotics and biological systems demands significant advancements across multiple domains, including mechanical design, control theory, modeling, and artificial intelligence. In this thesis, I will introduce innovative m ...

EPFL2025

A Stochastic Approach to Contact-rich Manipulation

Julius Maximilian Jankowski

For robots to operate in unstructured environments, they are required to interact with objects through contact. Those contacts may be used to push objects to the side, deform objects, or manipulate objects in-hand. This thesis addresses the problem of cont ...

EPFL2025

SUTBot: A Soft Umbrella-like Tensegrity Robot with Elastic Struts for In-pipe Locomotion

Rui Wu

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited l ...

2025

An augmented reality-based wearable system for handheld-free and intuitive robot programming

Junsoo Kim

Industrial robots have been programmed to optimize mass production by executing predefined trajectories with their high speed, precision, and repeatability over long production cycles. However, the rise of Industry 4.0 and the increasing demand for diverse ...

2025

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Zewei Zhang, Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

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 ...

Institute of Electrical and Electronics Engineers Inc.2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Augmenting locomotor perception by remapping tactile foot sensation to the back

Nathanaël Yvon Ferraroli-Tissot-Daguette, Olaf Blanke, Mohamed Bouri, Oliver Alan Kannape, Atena Fadaeijouybari, Selim Jean Habiby Alaoui

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

BioMed Central2024

A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

Sylvain Calinon

Implementing virtual fixtures in guiding tasks constrains the movement of the robot's end effector to specific curves within its workspace. However, incorporating guiding frameworks may encounter discontinuities when optimizing the reference target positio ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2024

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Andrea Di Russo

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

EPFL2023

Neuromechanical Simulations of Animats with Decentralised Control

Jonathan Patrick Arreguit O'Neill

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

EPFL2023

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Auke Ijspeert, Andrea Di Russo, Dimitar Yuriev Stanev

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Iop Publishing Ltd2023

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Guillaume Denis Antoine Bellegarda, Milad Shafiee Ashtiani

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

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

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

Laura Isabel Paez Coy

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

EPFL2023

The neuromechanics of animal locomotion: From biology to robotics and back

Auke Ijspeert, Pavan P Ramdya

Robotics and neuroscience are sister disciplines that both aim to understand how agile, efficient, and robust locomotion can be achieved in autonomous agents. Robotics has already benefitted from neuromechanical principles discovered by investigating anima ...

AMER ASSOC ADVANCEMENT SCIENCE2023

Combining accelerometry with allometry for estimating daily energy expenditure in joules when in-lab calibration is unavailable

Kamiar Aminian, Pritish Chakravarty

Background All behaviour requires energy, and measuring energy expenditure in standard units (joules) is key to linking behaviour to ecological processes. Animal-borne accelerometers are commonly used to infer proxies of energy expenditure, termed 'dynamic ...

BMC2023

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

Auke Ijspeert, Andrea Di Russo, 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

Early decoding of walking tasks with minimal set of EMG channels

Silvestro Micera

Objective. Powered lower-limb prostheses relying on decoding motor intentions from non-invasive sensors, like electromyographic (EMG) signals, can significantly improve the quality of life of amputee subjects. However, the optimal combination of high decod ...

IOP Publishing Ltd2023

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

Auke Ijspeert

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

Emergence of robust self-organized undulatory swimming based on local hydrodynamic force sensing

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

Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...

AMER ASSOC ADVANCEMENT SCIENCE2021