Full list of publications

Journal Articles

2021

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

R. Thandiackal; K. Melo; L. Paez; J. Herault; T. Kano et al. 

Science Robotics. 2021-08-11. Vol. 6, num. 57, p. eabf6354. DOI : 10.1126/scirobotics.abf6354.

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

S. Suzuki; T. Kano; A. J. Ijspeert; A. Ishiguro 

Frontiers In Neurorobotics. 2021-07-30. Vol. 15, p. 645731. DOI : 10.3389/fnbot.2021.645731.

Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People

M. d. R. Carral; V. Bourqui; N. Vuilleumier; A. Ortieb; M. Bouri 

International Journal Of Social Robotics. 2021-07-23. DOI : 10.1007/s12369-021-00810-9.

Adaptive Task-Space Force Control for Humanoid-to-Human Assistance

A. Bolotnikova; S. Courtois; A. Kheddar 

Ieee Robotics And Automation Letters. 2021-07-01. Vol. 6, num. 3, p. 5705-5712. DOI : 10.1109/LRA.2021.3084889.

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

A. Di Russo; D. Stanev; S. Armand; A. Ijspeert 

PLOS Computational Biology. 2021-05-19. Vol. 17, num. 5, p. e1008594. DOI : 10.1371/journal.pcbi.1008594.

Total Knee Replacement: Subject-Specific Modeling, Finite Element Analysis, and Evaluation of Dynamic Activities

I. Loi; D. Stanev; K. Moustakas 

Frontiers In Bioengineering And Biotechnology. 2021-04-16. Vol. 9, p. 648356. DOI : 10.3389/fbioe.2021.648356.

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

S. Suzuki; T. Kano; A. J. Ijspeert; A. Ishiguro 

Frontiers In Neurorobotics. 2021-01-08. Vol. 14, p. 607455. DOI : 10.3389/fnbot.2020.607455.

Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals

C. Meijneke; G. van Oort; V. Sluiter; E. van Asseldonk; N. L. Tagliamonte et al. 

Ieee Transactions On Neural Systems And Rehabilitation Engineering. 2021-01-01. Vol. 29, p. 330-339. DOI : 10.1109/TNSRE.2021.3049960.

A computer science and robotics integration model for primary school: evaluation of a large-scale in-service K-4 teacher-training program

L. El-Hamamsy; F. Chessel-Lazzarotto; B. Bruno; D. Roy; T. Cahlikova et al. 

Education and Information Technologies. 2021. Vol. 26, p. 2445–2475. DOI : 10.1007/s10639-020-10355-5.

Feasibility of an alternative method to estimate glenohumeral joint center from videogrammetry measurements and CT/MRI of patients

E. Sarshari; M. Mancuso; A. Terrier; A. Farron; P. Mullhaupt et al. 

Computer Methods In Biomechanics And Biomedical Engineering. 2021. Vol. 24, num. 1, p. 33-42. DOI : 10.1080/10255842.2020.1808889.

2020

Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

J. Knüsel; A. Crespi; J-M. Cabelguen; A. J. Ijspeert; D. Ryczko 

Frontiers in Neurorobotics. 2020-12-23. Vol. 14, p. 100. DOI : 10.3389/fnbot.2020.604426.

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

J. Fasola; R. Baud; T. Vouga; A. Ijspeert; M. Bouri 

Frontiers In Robotics And Ai. 2020-11-16. Vol. 7, p. 553828. DOI : 10.3389/frobt.2020.553828.

Kubits: Solid-State Self-Reconfiguration With Programmable Magnets

S. Hauser; M. Mutlu; A. J. Ijspeert 

Ieee Robotics And Automation Letters. 2020-10-01. Vol. 5, num. 4, p. 6443-6450. DOI : 10.1109/LRA.2020.3013884.

A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation

S. Abondance; C. B. Teeple; R. J. Wood 

Ieee Robotics And Automation Letters. 2020-10-01. Vol. 5, num. 4, p. 5502-5509. DOI : 10.1109/LRA.2020.3007411.

Special Issue on Adaptive Motion of Animals and Machines PREFACE

A. Ijspeert; A. Ishiguro; E. Standen; K. Hosoda 

Advanced Robotics. 2020-09-01. Vol. 34, num. 17, p. 1095-1095. DOI : 10.1080/01691864.2020.1807151.

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

A. D. Koelewijn; A. J. Ijspeert 

Frontiers In Bioengineering And Biotechnology. 2020-08-28. Vol. 8, p. 866. DOI : 10.3389/fbioe.2020.00866.

Experimental and Computational Study on Motor Control and Recovery After Stroke: Toward a Constructive Loop Between Experimental and Virtual Embodied Neuroscience

A. L. A. Mascaro; E. Falotico; S. Petkoski; M. Pasquini; L. Vannucci et al. 

Frontiers In Systems Neuroscience. 2020-07-07. Vol. 14, p. 31. DOI : 10.3389/fnsys.2020.00031.

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

P. Kibleur; S. R. Tata; N. Greiner; S. Conti; B. Barra et al. 

Ieee Transactions On Neural Systems And Rehabilitation Engineering. 2020-07-01. Vol. 28, num. 7, p. 1668-1677. DOI : 10.1109/TNSRE.2020.2986491.

Towards rich motion skills with the lightweight quadruped robot Serval

P. Eckert; A. E. M. Schmerbauch; T. Horvat; K. Soehnel; M. S. Fischer et al. 

Adaptive Behavior. 2020-06-01. Vol. 28, num. 3, p. 129-150. DOI : 10.1177/1059712319853227.

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

F. Tamburella; N. L. Tagliamonte; I. Pisotta; M. Masciullo; M. Arquilla et al. 

Ieee Transactions On Neural Systems And Rehabilitation Engineering. 2020-05-01. Vol. 28, num. 5, p. 1157-1167. DOI : 10.1109/TNSRE.2020.2984790.

Design and development of the efficient anguilliform swimming robot- MAR

K. Struebig; B. Bayat; P. Eckert; A. Looijestijn; T. C. Lueth et al. 

Bioinspiration & Biomimetics. 2020-05-01. Vol. 15, num. 3, p. 035001. DOI : 10.1088/1748-3190/ab6be0.

Iterative Design and Evaluation of a Tangible Robot-Assisted Handwriting Activity for Special Education

A. Guneysu Ozgur; A. Özgür; T. Asselborn; W. Johal; E. Yadollahi et al. 

Frontiers in Robotics and AI. 2020-03-06. Vol. 7, p. 29. DOI : 10.3389/frobt.2020.00029.

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

I. Youssef; M. Mutlu; B. Bayat; A. Crespi; S. Hauser et al. 

IEEE Robotics and Automation Letters. 2020-02-10. Vol. 5, num. 2, p. 2395-2402. DOI : 10.1109/LRA.2020.2972839.

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

A. J. Ijspeert 

Annual Review Of Control, Robotics, And Autonomous Systems, Vol 3, 2020. 2020-01-01. Vol. 3, p. 173-193. DOI : 10.1146/annurev-control-091919-095731.

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

S. Hauser; M. Mutlu; P-A. Léziart; H. Khodr; A. Bernardino et al. 

Robotics and Autonomous Systems. 2020. Vol. 127, p. 103467. DOI : 10.1016/j.robot.2020.103467.

2019

Mechanics of very slow human walking

A. R. Wu; C. S. Simpson; E. H. F. van Asseldonk; H. van der Kooij; A. J. Ijspeert 

Scientific Reports. 2019-12-02. Vol. 9, p. 18079. DOI : 10.1038/s41598-019-54271-2.

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

K. Yasui; T. Kano; E. M. Standen; H. Aonuma; A. J. Ijspeert et al. 

Scientific Reports. 2019-12-02. Vol. 9, p. 18288. DOI : 10.1038/s41598-019-53258-3.

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

S. Suzuki; T. Kano; A. J. Ijspeert; A. Ishiguro 

Bioinspiration & Biomimetics. 2019-11-01. Vol. 14, num. 6, p. 066010. DOI : 10.1088/1748-3190/ab3ef6.

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

H. Razavi; S. Faraji; A. Ijspeert 

International Journal of Robotics Research. 2019-10-16.  p. 0278364919875205. DOI : 10.1177/0278364919875205.

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

C. Rognon; V. Ramachandran; A. Wu; A. Ijspeert; D. Floreano 

IEEE Transactions on Haptics. 2019-09-19. Vol. 12, num. 3, p. 375-385. DOI : 10.1109/TOH.2019.2925612.

The current state and future outlook of rescue robotics

J. Delmerico; S. Mintchev; A. Giusti; B. Gromov; K. Melo et al. 

Journal of Field Robotics. 2019-08-07. Vol. 36, num. 7, p. 1171-1191. DOI : 10.1002/rob.21887.

Bridging Multilevel Time Scales in HRI

T. Asselborn; K. Sharma; W. Johal; P. Dillenbourg 

ACM Transactions on Human-Robot Interaction. 2019-08-03. Vol. 8, num. 3, p. 1-24. DOI : 10.1145/3338809.

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

N. Van der Noot; A. J. Ijspeert; R. Ronsse 

Autonomous Robots. 2019-08-01. Vol. 43, num. 6, p. 1537-1554. DOI : 10.1007/s10514-018-9814-6.

An Optimal Planning Framework to Deploy Self-Reconfigurable Modular Robots

H. Khodr; M. Mutlu; S. Hauser; A. Bernardino; A. Ijspeert 

IEEE Robotics and Automation Letters. 2019-07-25. Vol. 4, num. 4, p. 4278-4285. DOI : 10.1109/LRA.2019.2931216.

Reply: Limitations in the creation of an automatic diagnosis tool for dysgraphia

T. Asselborn; T. Gargot; L. Kidzinski; W. Johal; D. Cohen et al. 

npj Digital Medicine. 2019-05-09. Vol. 2, p. 37. DOI : 10.1038/s41746-019-0115-z.

How do pupils perceive educational robotics as a tool to improve their 21st century skills?

L. Negrini; C. Giang 

Journal of e-Learning and Knowledge Society. 2019-05-01. Vol. 15, num. 2, p. 77-87. DOI : 10.20368/1971-8829/1628.

Non-invasive, Brain-controlled Functional Electrical Stimulation for Locomotion Rehabilitation in Individuals with Paraplegia

A. Selfslagh; S. Shokur; D. S. F. Campos; A. R. C. Donati; S. Almeida et al. 

Scientific Reports. 2019-05-01. Vol. 9, p. 6782. DOI : 10.1038/s41598-019-43041-9.

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

P. J. Thomas; M. Olufsen; R. Sepulchre; P. A. Iglesias; A. Ijspeert et al. 

Biological Cybernetics. 2019-04-01. Vol. 113, num. 1-2, p. 1-6. DOI : 10.1007/s00422-018-00791-5.

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

C. Boussema; M. J. Powell; G. Bledt; A. J. Ijspeert; P. M. Wensing et al. 

Ieee Robotics And Automation Letters. 2019-04-01. Vol. 4, num. 2, p. 1611-1618. DOI : 10.1109/LRA.2019.2896723.

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

S. Faraji; H. Razavi; A. J. Ijspeert 

International Journal Of Robotics Research. 2019-04-01. Vol. 38, num. 5, p. 587-611. DOI : 10.1177/0278364919835606.

Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory

C. E. Boudjedir; D. Boukhetala; M. Bouri 

Nonlinear Dynamics. 2019-02-01. Vol. 95, num. 3, p. 2197-2208. DOI : 10.1007/s11071-018-4685-0.

Iterative learning control for trajectory tracking of a parallel Delta robot

C. E. Boudjedir; M. Bouri; D. Boukhetala 

At-Automatisierungstechnik. 2019-02-01. Vol. 67, num. 2, p. 145-156. DOI : 10.1515/auto-2018-0086.

Reverse-engineering the locomotion of a stem amniote

J. A. Nyakatura; K. Melo; T. Horvat; K. Karakasiliotis; V. R. Allen et al. 

Nature. 2019-01-16. Vol. 565, num. 7739, p. 351-355. DOI : 10.1038/s41586-018-0851-2.

Benchmarking Agility For Multilegged Terrestrial Robots

P. Eckert; A. J. Ijspeert 

IEEE Transactions on Robotics. 2019-01-11. Vol. 35, num. 2, p. 529-535. DOI : 10.1109/TRO.2018.2888977.

2018

Accelerated Sensorimotor Learning of Compliant Movement Primitives

T. Petric; A. Gams; L. Colasanto; A. J. Ijspeert; A. Ude 

Ieee Transactions On Robotics. 2018-12-01. Vol. 34, num. 6, p. 1636-1642. DOI : 10.1109/TRO.2018.2861921.

Social network plasticity decreases disease transmission in a eusocial insect

N. Stroeymeyt; A. V. Grasse; A. Crespi; D. P. Mersch; S. Cremer et al. 

Science. 2018-11-23. Vol. 362, num. 6417, p. 941-945. DOI : 10.1126/science.aat4793.

Imprecise dynamic walking with time-projection control

S. Faraji; P. Müllhaupt; A. Ijspeert 

arXiv. 2018-11-12. 

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

S. Faraji; A. R. Wu; A. J. Ijspeert 

Scientific Reports. 2018-07-20. Vol. 8, num. 1, p. 10998. DOI : 10.1038/s41598-018-29429-z.

Effects of passive and active joint compliance in quadrupedal locomotion

M. Mutlu; S. Hauser; A. Bernardino; A. J. Ijspeert 

Advanced Robotics. 2018-01-01. Vol. 32, num. 15, p. 809-824. DOI : 10.1080/01691864.2018.1497535.

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

A. Ishiguro; A. Ijspeert; K. Hosoda 

Advanced Robotics. 2018-01-01. Vol. 32, num. 15, p. 793-793. DOI : 10.1080/01691864.2018.1511287.

Compliant universal grippers as adaptive feet in legged robots

S. Hauser; M. Mutlu; P. Banzet; A. Ijspeert 

Advanced Robotics. 2018-01-01. Vol. 32, num. 15, p. 825-836. DOI : 10.1080/01691864.2018.1496851.

Self-synchronization and self-stabilization of 3D bipedal walking gaits

C. Chevallereau; H. Razavi; D. Six; Y. Aoustin; J. Grizzle 

ROBOTICS AND AUTONOMOUS SYSTEMS. 2018. Vol. 100, p. 43-60. DOI : 10.1016/j.robot.2017.10.018.

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

A. Sprowitz; A. Tuleu; M. Ajallooeian; M. Vespignani; R. Mockel et al. 

Frontiers in Robotics and AI. 2018. Vol. 5, p. 67. DOI : 10.3389/frobt.2018.00067.

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

J. Lanini; H. Razavi; J. Urain; A. Ijspeert 

IEEE ROBOTICS AND AUTOMATION LETTERS. 2018. Vol. 3, num. 4, p. 4171-4178. DOI : 10.1109/LRA.2018.2864351.

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

N. Van der Noot; A. Ijspeert; R. Ronsse 

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH. 2018. Vol. 37, num. 1, p. 168-196. DOI : 10.1177/0278364917743320.

Forceful manipulation with micro air vehicles

M. A. Estrada; S. Mintchev; D. L. Christensen; M. R. Cutkosky; D. Floreano 

Science Robotics. 2018. Vol. 3, num. 23, p. eaau6903. DOI : 10.1126/scirobotics.aau6903.

Push recovery with stepping strategy based on time-projection control

S. Faraji; H. Razavi; A. Ijspeert 

ArXiv. 2018. 

Time-projection control to recover inter-sample disturbances, application to bipedal walking control

S. Faraji; P. Müllhaupt; A. Ijspeert 

ArXiv. 2018. 

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

S. Faraji; A. Ijspeert 

IEEE Robotics and Automation Letters. 2018. Vol. 3, num. 1, p. 289-296. DOI : 10.1109/LRA.2017.2739103.

2017

Automated computer-based detection of encounter behaviours in groups of honeybees

C. Blut; A. Crespi; D. Mersch; L. Keller; L. Zhao et al. 

Scientific Reports. 2017. Vol. 7, num. 1, p. 17663. DOI : 10.1038/s41598-017-17863-4.

Spine Controller for a Sprawling Posture Robot

T. Horvat; K. Melo; A. J. Ijspeert 

Ieee Robotics And Automation Letters. 2017. Vol. 2, num. 2, p. 1195-1202. DOI : 10.1109/Lra.2017.2664898.

JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support

S. Hauser; M. A. Robertson; A. Ijspeert; J. Paik 

IEEE Robotics and Automation Letters. 2017. Vol. 2, num. 2, p. 849-855. DOI : 10.1109/LRA.2017.2655109.

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

J. Lanini; A. Duburcq; H. Razavi; C. G. Le Goff; A. J. Ijspeert 

Plos One. 2017. Vol. 12, num. 9, p. e0179989. DOI : 10.1371/journal.pone.0179989.

A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury

J-B. Mignardot; C. G. Le Goff; R. Van Den Brand; M. Capogrosso; N. Fumeaux et al. 

Science Translational Medicine. 2017. Vol. 9, num. 399, p. eaah3621. DOI : 10.1126/scitranslmed.aah3621.

Adaptive Natural Oscillator to Exploit Natural Dynamics for Energy Efficiency

M. Khoramshahi; R. Nasiri; M. Shushtari; A. Ijspeert; M. Nili Ahmadabadi 

Robotics and Autonomous Systems. 2017. Vol. 97, p. 51-60. DOI : 10.1016/j.robot.2017.07.017.

Hammering Does Not Fit Fitts’ Law

T. Petric; C. S. Simpson; A. Ude; A. J. Ijspeert 

Frontiers In Computational Neuroscience. 2017. Vol. 11, p. 45. DOI : 10.3339/fncom.2017.00045.

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

A. R. Wu; F. Dzeladini; T. J. H. Brug; F. Tamburella; N. L. Tagliamonte et al. 

Frontiers In Neurorobotics. 2017. Vol. 11, p. 30. DOI : 10.3389/fnbot.2017.00030.

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

S. Faraji; A. Ijspeert 

IEEE Robotics and Automation Letters. 2017. Vol. 2, num. 2, p. 1132-1139. DOI : 10.1109/LRA.2017.2661810.

Spinal joint compliance and actuation in a simulated bounding quadruped robot

S. Pouya; M. Khodabakhsh; A. Sprowitz; A. Ijspeert 

Autonomous Robots. 2017. Vol. 41, num. 2, p. 437-452. DOI : 10.1007/s10514-015-9540-2.

Climbing favours the tripod gait over alternative faster insect gaits

P. Ramdya; R. Thandiackal; R. Cherney; T. Asselborn; R. Benton et al. 

Nature Communications. 2017. Vol. 8, p. 14494. DOI : 10.1038/ncomms14494.

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

S. Faraji; A. Ijspeert 

The International Journal of Robotics Research. 2017. Vol. 36, num. 4, p. 436-455. DOI : 10.1177/0278364917708248.

2016

Bioinspired Motor Control for Articulated Robots [From the Guest Editors]

N. Vitiello; A. J. Ijspeert; S. Schaal 

IEEE Robotics & Automation Magazine. 2016. Vol. 23, num. 1, p. 20-21. DOI : 10.1109/MRA.2015.2511680.

Requirements for building an ontology for autonomous robots

B. Bayat; J. Bermejo-Alonso; J. Carbonera; T. Facchinetti; S. Fiorini et al. 

Industrial Robot-An International Journal. 2016. Vol. 43, num. 5, p. 469-480. DOI : 10.1108/Ir-02-2016-0059.

On Designing an Active Tail for Legged Robots: Simplifying Control via Decoupling of Control Objectives

S. Heim; M. Ajalloeian; P. Eckert; M. Vespignani; A. Ijspeert 

Industrial Robot: An International Journal. 2016. Vol. 43, num. 3, p. 338-346. DOI : 10.1108/IR-10-2015-0190.

From cineradiography to biorobots: an approach for designing robots to emulate and study animal locomotion

K. Karakasiliotis; R. Thandiackal; K. Melo; T. Horvat; N. K. Mahabadi et al. 

Journal of The Royal Society Interface. 2016. Vol. 13, num. 119. DOI : 10.1098/rsif.2015.1089.

Adaptation and coaching of periodic motion primitives through physical and visual interaction

A. Gams; T. Petric; M. Do; B. Nemec; J. Morimoto et al. 

Robotics and Autonomous Systems. 2016. Vol. 75, p. 340-351. DOI : 10.1016/j.robot.2015.09.011.

2015

Kinematic and gait similarities between crawling human infants and other quadruped mammals

L. Righetti; A. Nylen; K. Rosander; A. J. Ijspeert 

Frontiers In Neurology. 2015. Vol. 6, p. 17. DOI : 10.3389/fneur.2015.00017.

Morphological Evolution of Physical Robots through Model-Free Phenotype Development

L. Brodbeck; S. Hauser; F. Iida 

PLoS One. 2015. Vol. 10, num. 6, p. e0128444. DOI : 10.1371/journal.pone.0128444.

Flexibility of the axial central pattern generator network for locomotion in the salamander

D. Ryczko; J. Knüsel; A. Crespi; S. Lamarque; A. Mathou et al. 

Journal of Neurophysiology. 2015. Vol. 113, num. 6, p. 1921-1940. DOI : 10.1152/jn.00894.2014.

Real-time full body motion imitation on the COMAN humanoid robot

A. Gams; J. Van den Kieboom; F. Dzeladini; A. Ude; A. J. Ijspeert 

Robotica. 2015. Vol. 33, num. 5, p. 1049-1061. DOI : 10.1017/S0263574714001477.

2014

Improved Lighthill fish swimming model for bio-inspired robots: Modeling, computational aspects and experimental comparisons

M. Porez; F. Boyer; A. J. Ijspeert 

International Journal Of Robotics Research. 2014. Vol. 33, num. 10, p. 1322-1341. DOI : 10.1177/0278364914525811.

Infinite Presentability Of Groups And Condensation

R. Bieri; Y. Cornulier; L. Guyot; R. Strebel 

Journal Of The Institute Of Mathematics Of Jussieu. 2014. Vol. 13, num. 4, p. 811-848. DOI : 10.1017/S1474748013000327.

Biorobotics: Using robots to emulate and investigate agile animal locomotion

A. Ijspeert 

Science magazine. 2014. Vol. 346, num. 6206, p. 196-203. DOI : 10.1126/science.1254486.

Coupling Movement Primitives: Interaction With the Environment and Bimanual Tasks

A. Gams; B. Nemec; A. J. Ijspeert; A. Ude 

IEEE Transactions on Robotics. 2014. Vol. 30, num. 4, p. 816-830. DOI : 10.1109/TRO.2014.2304775.

Engineering Intelligent Electronic Systems Based on Computational Neuroscience

M. D. Mcdonnell; K. Boahen; A. Ijspeert; T. J. Sejnowski 

Proceedings Of The Ieee. 2014. Vol. 102, num. 5, p. 646-651. DOI : 10.1109/Jproc.2014.2314776.

The contribution of a central pattern generator in a reflex-based neuromuscular model

F. Dzeladini; J. Van Den Kieboom; A. Ijspeert 

Frontiers In Human Neuroscience. 2014. Vol. 8, p. 371. DOI : 10.3389/fnhum.2014.00371.

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

A. Spröwitz; M. Ajallooeian; A. Tuleu; A. Ijspeert 

Frontiers in Computational Neuroscience. 2014. Vol. 8, num. 27, p. 1-13. DOI : 10.3389/fncom.2014.00027.

Roombots: A Hardware Perspective on 3D Self-Reconfiguration and Locomotion with a Homogeneous Modular Robot

A. Spröwitz; R. Möckel; M. Vespignani; S. Bonardi; A. Ijspeert 

Robotics and Autonomous Systems. 2014. Vol. 62, num. 7, p. 1016-1033. DOI : 10.1016/j.robot.2013.08.011.

2013

Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots

M. Khoramshahi; H. J. Bidgoly; S. Shafiee; A. Asaei; A. J. Ijspeert et al. 

Robotics And Autonomous Systems. 2013. Vol. 61, num. 12, p. 1350-1359. DOI : 10.1016/j.robot.2013.08.001.

The effect of fractionality nature in differences between computer simulation and experimental results of a chaotic circuit

S. Faraji; M. S. Tavazoei 

Central European Journal Of Physics. 2013. Vol. 11, num. 6, p. 836-844. DOI : 10.2478/s11534-013-0255-8.

Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

L. Zollo; A. Salerno; M. Vespignani; D. Accoto; M. Passalacqua et al. 

International Journal Of Advanced Robotic Systems. 2013. Vol. 10, num. 10. DOI : 10.5772/56928.

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

A. Bicanski; D. Ryczko; J-M. Cabelguen; A. J. Ijspeert 

Biological Cybernetics. 2013. Vol. 107, num. 5, p. 565-587. DOI : 10.1007/s00422-012-0538-y.

Foreword for the special issue on Lamprey and Salamander Robots and the Central Nervous System

A. J. Ijspeert; S. Grillner; P. Dario 

Biological Cybernetics. 2013. Vol. 107, num. 5, p. 495-496. DOI : 10.1007/s00422-013-0570-6.

Effects of Robotic Knee Exoskeleton on Human Energy Expenditure

A. Gams; T. Petrič; T. Debevec; J. Babič 

IEEE Transactions on Biomedical Engineering. 2013. Vol. 60, num. 6, p. 1636-1644. DOI : 10.1109/TBME.2013.2240682.

Reflexive stability control framework for humanoid robots

T. Petrič; A. Gams; J. Babič; L. Žlajpah 

Autonomous Robots. 2013. Vol. 34, num. 4, p. 347-361. DOI : 10.1007/s10514-013-9329-0.

Control approaches for robotic knee exoskeleton and their effects on human motion

T. Petrič; A. Gams; T. Debevec; L. Žlajpah; J. Babič 

Advanced Robotics. 2013. Vol. 27, num. 13, p. 993-1002. DOI : 10.1080/01691864.2013.804164.

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

M. Sitti; A. Menciassi; A. J. Ijspeert; K. H. Low; S. Kim 

Ieee-Asme Transactions On Mechatronics. 2013. Vol. 18, num. 2, p. 409-418. DOI : 10.1109/Tmech.2012.2233492.

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

M. Ajallooeian; J. van den Kieboom; A. Mukovskiy; M. Giese; A. Ijspeert 

Physica D: Nonlinear Phenomena. 2013. Vol. 263, p. 41-56. DOI : 10.1016/j.physd.2013.07.016.

A Salamander’s Flexible Spinal Network for Locomotion, Modeled at Two Levels of Abstraction

J. Knüsel; A. Bicanski; D. Ryczko; J-M. Cabelguen; A. Ijspeert 

Integrative and Comparative Biology. 2013. Vol. 53, num. 2, p. 269-282. DOI : 10.1093/icb/ict067.

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

R. Ronsse; D. Rossi; S. M. Maria; N. Vitiello; T. Lenzi et al. 

IEEE Transactions on Robotics. 2013. Vol. 29, num. 3, p. 783-791. DOI : 10.1109/TRO.2013.2240173.

Tracking Individuals Shows Spatial Fidelity Is a Key Regulator of Ant Social Organization

D. P. Mersch; A. Crespi; L. Keller 

Science. 2013. Vol. 340, num. 6136, p. 1090-1093. DOI : 10.1126/science.1234316.

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

A. Crespi; K. Karakasiliotis; A. Guignard; A. J. Ijspeert 

IEEE Transactions on Robotics. 2013. Vol. 29, num. 2, p. 308-320. DOI : 10.1109/TRO.2012.2234311.

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

F. L. Moro; A. Sprowitz; A. Tuleu; M. Vespignani; N. G. Tsagarakis et al. 

Biological Cybernetics. 2013. Vol. 107, num. 3, p. 309–320. DOI : 10.1007/s00422-013-0551-9.

Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors

A. J. Ijspeert; J. Nakanishi; H. Hoffmann; P. Pastor; S. Schaal 

Neural Computation. 2013. Vol. 25, num. 2, p. 328-373. DOI : 10.1162/NECO_a_00393.

Towards Dynamic Trot Gait Locomotion—Design, Control and Experiments with Cheetah-cub, a Compliant Quadruped Robot

A. Sproewitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri et al. 

International Journal of Robotics Research. 2013. Vol. 32, num. 8, p. 932-950. DOI : 10.1177/0278364913489205.

2012

Where are we in understanding salamander locomotion: biological and robotic perspectives on kinematics

K. Karakasiliotis; N. Schilling; J-M. Cabelguen; A. Ijspeert 

Biological Cybernetics. 2012. DOI : 10.1007/s00422-012-0540-4.

The role of feedback in morphological computation with compliant bodies

H. Hauser; A. J. Ijspeert; R. M. Fuechslin; R. Pfeifer; W. Maass 

Biological Cybernetics. 2012. Vol. 106, num. 10, p. 595-613. DOI : 10.1007/s00422-012-0516-4.

2011

On-line frequency adaptation and movement imitation for rhythmic robotic tasks

T. Petric; A. Gams; A. J. Ijspeert; L. Zlajpah 

International Journal Of Robotics Research. 2011. Vol. 30, p. 1775-1788. DOI : 10.1177/0278364911421511.

Towards a theoretical foundation for morphological computation with compliant bodies

H. Hauser; A. J. Ijspeert; R. M. Fuechslin; R. Pfeifer; W. Maass 

Biological Cybernetics. 2011. Vol. 105, p. 355-370. DOI : 10.1007/s00422-012-0471-0.

Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface

D. Rossi; S. M. Maria; N. Vitiello; T. Lenzi; R. Ronsse et al. 

Sensors. 2011. Vol. 11, p. 207-227. DOI : 10.3390/s110100207.

Human-Robot Synchrony: Flexible Assistance Using Adaptive Oscillators

R. Ronsse; N. Vitiello; T. Lenzi; J. van den Kieboom; M. C. Carrozza et al. 

Ieee Transactions On Biomedical Engineering. 2011. Vol. 58, p. 1001-1012. DOI : 10.1109/TBME.2010.2089629.

Analogy between Juggling and Hopping: Active Object Manipulation Approach

A. Akbarimajd; M. N. Ahmadabadi; A. J. Ijspeert 

Advanced Robotics. 2011. Vol. 25, p. 1793-1816. DOI : 10.1163/016918611X584695.

Oscillator-based assistance of cyclical movements: model-based and model-free approaches

R. Ronsse; T. Lenzi; N. Vitiello; B. Koopman; E. van Asseldonk et al. 

Medical & Biological Engineering & Computing. 2011. Vol. 49, p. 1173-1185. DOI : 10.1007/s11517-011-0816-1.

Sensory feedback plays a significant role in generating walking gait and in gait transition in salamanders: a simulation study

N. Harischandra; J. Knüsel; A. Kozlov; A. Bicanski; J-M. Cabelguen et al. 

Frontiers in Neurorobotics. 2011. Vol. 5, num. 3, p. 1-13. DOI : 10.3389/fnbot.2011.00003.

Biologically inspired kinematic synergies enable linear balance control of a humanoid robot

H. Hauser; G. Neumann; A. J. Ijspeert; W. Maass 

Biological Cybernetics. 2011. DOI : 10.1007/s00422-011-0430-1.

Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives

S. Dégallier Rochat; L. Righetti; S. Gay; A. Ijspeert 

Autonomous Robots. 2011. Vol. 31, num. 2, p. 155-181. DOI : 10.1007/s10514-011-9235-2.

2010

Poincar,-Cosserat Equations for the Lighthill Three-dimensional Large Amplitude Elongated Body Theory: Application to Robotics

F. Boyer; M. Porez; A. Leroyer 

Journal Of Nonlinear Science. 2010. Vol. 20, p. 47-79. DOI : 10.1007/s00332-009-9050-5.

Guest editorial: special issue on control of locomotion—from animals to robots

A. J. Ijspeert; P. Dario; S. Grillner 

Autonomous Robots. 2010. Vol. 28, num. 3, p. 245-246. DOI : 10.1007/s10514-010-9178-z.

Bouncing between model and data: stability, passivity, and optimality in hybrid dynamics

R. Ronsse; D. Sternad 

Journal of Motor Behavior. 2010. Vol. 42, num. 6, p. 389-399. DOI : 10.1080/00222895.2010.526451.

Segmental Oscillators in Axial Motor Circuits of the Salamander: Distribution and Bursting Mechanisms

D. Ryczko; V. Charrier; A. Ijspeert; J-M. Cabelguen 

Journal of Neurophysiology. 2010. Vol. 104, p. 2677-2692. DOI : 10.1152/jn.00479.2010.

Modeling Discrete and Rhythmic Movements through Motor Primitives: A Review

S. Dégallier; A. Ijspeert 

Biological Cybernetics. 2010. Vol. 103, num. 4, p. 319-338. DOI : 10.1007/s00422-010-0403-9.

Roombots: Reconfigurable Robots for Adaptive Furniture

A. Spröwitz; S. Pouya; S. Bonardi; J. van den Kieboom; R. Möckel et al. 

IEEE Computational Intelligence Magazine, special issue on “Evolutionary and developmental approaches to robotics”. 2010. Vol. 5, num. 3, p. 20-32. DOI : 10.1109/MCI.2010.937320.

2009

Guest Editorial to the Special Letters Issue on Biomedical Robotics and Biomechatronics-BioRob

J. P. Desai; A. Menciassi; A. Ijspeert 

Ieee Transactions On Biomedical Engineering. 2009. Vol. 56, p. 2293-2294. DOI : 10.1109/TBME.2009.2029817.

Adaptive Frequency Oscillators and Applications

L. Righetti; J. Buchli; A. J. Ijspeert 

The Open Cybernetics and Systemics Journal. 2009. Vol. 3, p. 64-69. DOI : 10.2174/1874110X00903020064.

MODEM: a multi-agent hierarchical structure to model the human motor control system

M. E. Andani; F. Bahrami; P. J. Maralani; A. Ijspeert 

Biological Cybernetics. 2009. DOI : 10.1007/s00422-009-0342-5.

Leg (AMAL) using bipedal robotics technology

G. C. Nandi; A. J. Ijspeert; P. Chakraborty; A. Nandi 

Robotics and Autonomous Systems. 2009. Vol. 57, num. 6-7, p. 603-616. DOI : 10.1016/j.robot.2009.02.002.

On-line learning and modulation of periodic movements with nonlinear dynamical systems

A. Gams; A. Ijspeert; S. Schaal; J. Lenarcic 

Autonomous Robots. 2009. Vol. 27, num. 1, p. 3–23. DOI : 10.1007/s10514-009-9118-y.

2008

A point-wise model of adhesion suitable for real-time applications of bio-inspired climbing robot

I. Pretto; S. Ruffieux; C. Menon; A. J. Ijspeert; S. Cocuzza 

Journal of Bionic Engineering. 2008. Vol. 5, p. 98-105. DOI : 10.1016/S1672-6529(08)60079-7.

Controlling swimming and crawling in a fish robot using a central pattern generator

A. Crespi; D. Lachat; A. Pasquier; A. J. Ijspeert 

Autonomous Robots. 2008. Vol. 25, num. 1-2, p. 3-13. DOI : 10.1007/s10514-007-9071-6.

Self-organized adaptive legged locomotion in a compliant quadruped robot

J. Buchli; A. J. Ijspeert 

Autonomous Robots. 2008. Vol. 25, num. 4, p. 331–347. DOI : 10.1007/s10514-008-9099-2.

Central pattern generators for locomotion control in animals and robots: a review

A. J. Ijspeert 

Neural Networks. 2008. Vol. 21, num. 4, p. 642-653. DOI : 10.1016/j.neunet.2008.03.014.

Learning to move in modular robots using central pattern generators and online optimization

A. Sproewitz; R. Moeckel; J. Maye; A. J. Ijspeert 

The International Journal of Robotics Research. 2008. Vol. 27, num. 3-4, p. 423–443. DOI : 10.1177/0278364907088401.

Frequency analysis with coupled nonlinear oscillators

J. Buchli; L. Righetti; A. Ijspeert 

Physica D. 2008. Vol. 237, num. 13, p. 1705-1718. DOI : 10.1016/j.physd.2008.01.014.

Organisation of the spinal central pattern generators for locomotion in the salamander: biology and modelling

S. Chevallier; A. Ijspeert; D. Ryczko; F. Nagy; J-M. Cabelguen 

Brain Research Reviews. 2008. Vol. 57, num. 1, p. 147-161. DOI : 10.1016/j.brainresrev.2007.07.006.

Online optimization of swimming and crawling in an amphibious snake robot

A. Crespi; A. J. Ijspeert 

IEEE Transactions on Robotics and Automation. 2008. Vol. 24, num. 1, p. 75-87. DOI : 10.1109/TRO.2008.915426.

2007

Resonant neurons and bushcricket behaviour

B. Webb; J. Wessnitzer; S. Bush; J. Schul; J. Buchli et al. 

Journal of Comparative Physiology A. 2007. Vol. 193, num. 2, p. 285-288. DOI : 10.1007/s00359-006-0199-1.

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

N. Tsakarakis; G. Metta; G. Sandini; D. Vernon; R. Beira et al. 

Journal of Advanced Robotics, Special Issue on Robotic platforms for Research in Neuroscience. 2007. Vol. 21, num. 10, p. 1151-1175. DOI : 10.1163/156855307781389419.

Dynamics systems vs. optimal control a unifying view

S. Schaal; P. Mohajerian; A. Ijspeert 

Progress in Brain Research. 2007. Vol. 165, p. 425-445. DOI : 10.1016/S0079-6123(06)65027-9.

Self-replicating hardware for reliability: The embryonics project

G. Tempesti; D. Mange; P-A. Mudry; J. Rossier; A. Stauffer 

ACM Journal on Emerging Technologies in Computing Systems. 2007. Vol. 3, num. 2, p. 9-es. DOI : 10.1145/1265949.1265955.

From swimming to walking with a salamander robot driven by a spinal cord model

A. J. Ijspeert; A. Crespi; D. Ryczko; J-M. Cabelguen 

Science. 2007. Vol. 315, num. 5817, p. 1416-1420. DOI : 10.1126/science.1138353.

2006

Passive compliance for an (RC) servo-controlled bouncing robot

F. Meyer; A. Sproewitz; L. Berthouze 

Advanced Robotics. 2006. Vol. 20, num. 8, p. 953-961. DOI : 10.1163/156855306777951429.

Exploring adaptive locomotion with YaMoR, a novel autonomous modular robot with Bluetooth interface

R. Moeckel; C. Jaquier; K. Drapel; E. Dittrich; A. Upegui et al. 

Industrial Robot. 2006. Vol. 33, num. 4, p. 285-290. DOI : 10.1108/01439910610667908.

Aibo and Webots: Simulation, Wireless Remote Control and Controller Transfer

L. Hohl; R. Tellez; O. Michel; A. J. Ijspeert 

Robotics and Autonomous Systems. 2006. Vol. 54, num. 6, p. 472-485. DOI : 10.1016/j.robot.2006.02.006.

Dynamical principles in neuronal systems and robotics

J. Buchli; A. J. Ijspeert; M. Rabinovich; A. Selverston 

Biological Cybernetics. 2006. Vol. 96, num. 6, p. 517-518. DOI : 10.1007/s00422-006-0130-4.

Engineering Entrainment and Adaptation in Limit Cycle Systems — From biological inspiration to applications in robotics

J. Buchli; L. Righetti; A. J. Ijspeert 

Biological Cybernetics. 2006. Vol. 95, num. 6, p. 645-664. DOI : 10.1007/s00422-006-0128-y.

Robot-Animal Interaction: Perception and Behavior of Insbot

M. Asadpour; F. Tache; G. Caprari; W. Karlen; R. Siegwart 

International Journal of Advanced Robotics Systems. 2006. Vol. 3, num. 2, p. 093-098. DOI : 10.5772/5752.

Dynamic hebbian learning in adaptive frequency oscillators

L. Righetti; J. Buchli; A. J. Ijspeert 

Physica D. 2006. Vol. 216, num. 2, p. 269-281. DOI : 10.1016/j.physd.2006.02.009.

Nonlinear modelling of double and triple period pitch breaks in vocal fold vibration

F. Menzer; J. Buchli; D. M. Howard; A. J. Ijspeert 

Logopedics Phoniatrics Vocology. 2006. Vol. 31, num. 1, p. 36-42. DOI : 10.1080/14015430500320257.

2005

Simulation and robotics studies of salamander locomotion

A. J. Ijspeert; A. Crespi; J-M. Cabelguen 

Neuroinformatics. 2005. Vol. 3, num. 3, p. 171-195. DOI : 10.1385/NI:3:3:171.

AmphiBot I: An amphibious snake-like robot

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert 

Robotics and Autonomous Systems. 2005. Vol. 50, num. 4, p. 163-175. DOI : 10.1016/j.robot.2004.09.015.

Institute Presentation: Biologically Inspired Robotics Group at EPFL

A. Ijspeert; J. Buchli; A. Crespi; L. Righetti; Y. Bourquin 

International Journal of Advanced Robotics Systems. 2005. Vol. 2, num. 2, p. 175-199.

Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots

A. Ijspeert; A. Crespi; J. Cabelguen 

Neuroinformatics. 2005. Vol. 3, num. 3, p. 171-196. DOI : 10.1385/NI:3:3:171.

2004

Compact Q-Learning Optimized for Micro-robots with Processing and Memory Constraints

M. Asadpour; R. Siegwart 

Journal of Robotics and Autonomous Systems. 2004. Vol. 48, num. 1, p. 49-61. DOI : 10.1016/j.robot.2004.05.006.

Webots: Professional Mobile Robot Simulation

O. Michel 

International Journal of Advanced Robotic Systems. 2004. Vol. 1, num. 1, p. 39-42.

2003

Stochastic resonance in pattern recognition by a holographic neuron model

R. Stoop; J. Buchli; G. Keller; W. Steeb 

Physical Review E. 2003. Vol. 67, p. 061918. DOI : 10.1103/PhysRevE.67.061918.

Computational approaches to motor learning by imitation

S. Schaal; A. J. Ijspeert; A. Billard 

Philosophical transaction of the Royal Society of London, series B. 2003. Vol. 358, num. 1431, p. 537-547. DOI : 10.1098/rstb.2002.1258.

2002

Expertness based Cooperative Q-Learning

M. N. Ahmadabadi; M. Asadpour 

IEEE Transactions on Systems, Man and Cybernetics, Part B. 2002. Vol. 32, num. 1, p. 66-76. DOI : 10.1109/3477.979961.

2001

Cooperative Q-learning: the knowledge sharing issue

M. N. Ahmadabadi; M. Asadpour; E. Nakano 

Advanced Robotics. 2001. Vol. 15, num. 8, p. 815-832. DOI : 10.1163/156855301317198142.

A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander

A. Ijspeert 

Biological Cybernetics. 2001. Vol. 84, num. 5, p. 331-348. DOI : 10.1007/s004220000211.

Collaboration through the Exploitation of Local Interactions in Autonomous Collective Robotics: The Stick Pulling Experiment

A. Ijspeert; A. Martinoli; A. Billard; L. M. Gambardella 

Autonomous Robots. 2001. Vol. 11, num. 2, p. 149-171. DOI : 10.1023/A:1011227210047.

A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems

K. Lerman; A. Galstyan; A. Martinoli; A. J. Ijspeert 

Artificial Life. 2001. Vol. 7, num. 4, p. 375-393. DOI : 10.1162/106454601317297013.

1999

Evolving swimming controllers for a simulated lamprey with inspiration from Neurobiology

A. Ijspeert; J. Hallam; D. Willshaw 

Adaptive Behavior. 1999. Vol. 7, num. 2, p. 151-172. DOI : 10.1177/105971239900700202.

A multi-robot system for adaptive exploration of a fast changing environment: probabilistic modelling and experimental study

A. Billard; A. Ijspeert; A. Martinoli 

Connection Science. 1999. Vol. 11, num. 3–4, p. 359-377. DOI : 10.1080/095400999116304.

Evolution and development of a Central Pattern Generator for the swimming of a lamprey

A. Ijspeert; J. Kodjabachian 

Artificial Life. 1999. Vol. 5, num. 3, p. 247-269. DOI : 10.1162/106454699568773.

1998

Evolving swimming controllers for a simulated lamprey with inspiration from Neurobiology

A. Ijspeert; J. Hallam; D. Willshaw 

Research Paper. 1998. Vol. 876.

Evolution and development of a Central Pattern Generator for the swimming of a lamprey

A. Ijspeert; J. Kodjabachian 

Research Paper. 1998. Vol. 926.

Conference Papers

2021

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

J. Hernandez Sanchez; W. Amanhoud; A. Billard; M. Bouri 

2021. IEEE International Conference on Robotics and Automation (ICRA) 2021, Xi’an China, May 30th – June 5th, 2021.

2020

Kinematic and dynamic analysis of the mosquito larvae gait

L. Paez; K. Melo; S. Sakar; A. J. Ijspeert 

2020-03-01. Annual Meeting of the Society-for-Integrative-and-Comparative-Biology (SICB), Austin, TX, Jan 03-07, 2020. p. E182-E182.

Multi-object spectroscopic operations with the Sloan Digital Sky Survey V

J. R. Sanchez-Gallego; C. Sayres; J. Donor; A. Almeida Toro; R. Araujo et al. 

2020-01-01. Conference on Observatory Operations – Strategies, Processes, and Systems VIII, ELECTR NETWORK, Dec 14-22, 2020. p. 114490O. DOI : 10.1117/12.2561810.

Trajectory Planning of a Bio-inspired Walker in 3D Cluttered Environments using Internal Models

N. Van der Noot; A. J. Ijspeert; R. Ronsse 

2020-01-01. 8th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), New York City, NY, Nov 29-Dec 01, 2020. p. 727-733. DOI : 10.1109/BioRob49111.2020.9224461.

A Muscle-Reflex Model of Forelimb and Hindlimb of Felidae Family of Animal with Dynamic Pattern Formation Stimuli

A. A. Saputra; C. W. Hong; A. J. Ijspeert; N. Kubota 

2020-01-01. International Joint Conference on Neural Networks (IJCNN) held as part of the IEEE World Congress on Computational Intelligence (IEEE WCCI), ELECTR NETWORK, Jul 19-24, 2020. DOI : 10.1109/IJCNN48605.2020.9206784.

A Model for the Representation of the Extraversion-Introversion Personality Traits in the Communication Style of a Social Robot

S. Speranza; C. T. Recchiuto; B. Bruno; A. Sgorbissa 

2020-01-01. 29th IEEE International Conference on Robot and Human Interactive Communication (IEEE RO-MAN), ELECTR NETWORK, Aug 31-Sep 04, 2020. p. 75-81. DOI : 10.1109/RO-MAN47096.2020.9223537.

2019

Towards an Adaptive Upper Limb Rehabilitation Game with Tangible Robots

A. Güneysu Özgür; L. P. Faucon; P. Maceira-Elvira; M. J. Wessel; W. Johal et al. 

2019-06-26. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, June, 2019. p. 294-299. DOI : 10.1109/ICORR.2019.8779429.

Adaptive Compliant Foot Design for Salamander Robots

L. Paez; K. Melo; R. Thandiackal; A. J. Ijspeert 

2019-05-27. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, South Korea, April 14-18, 2019. p. 178-185. DOI : 10.1109/ROBOSOFT.2019.8722731.

Undulatory swimming control with local exteroceptive sensory feedback

R. Thandiackal; K. Melo; L. Paez; T. Kano; A. Ishiguro et al. 

2019-03-01. Annual Meeting of the Society-for-Integrative-and-Comparative-Biology (SICB), Tampa, FL, Jan 03-07, 2019. p. E230-E230.

Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis

F. Heremans; S. Vijayakumar; M. Bouri; B. Dehez; R. Ronsse 

2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 411-416. DOI : 10.1109/ICORR.2019.8779421.

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

R. Baud; J. Fasola; T. Vouga; A. Ijspeert; M. Bouri 

2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 849-854. DOI : 10.1109/ICORR.2019.8779440.

Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton

J. Fasola; T. Vouga; R. Baud; H. Bleuler; M. Bouri 

2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 593-598. DOI : 10.1109/ICORR.2019.8779500.

Error Augmentation Improves Visuomotor Adaptation during a Full-Body Balance Task

J. Fasola; O. A. Kannape; M. Bouri; H. Bleuler; O. Blanke 

2019-01-01. 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, GERMANY, Jul 23-27, 2019. p. 1529-1533. DOI : 10.1109/EMBC.2019.8857523.

A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

H. Saied; A. Chemori; M. Bouri; M. El Rafei; C. Francis et al. 

2019-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, PEOPLES R CHINA, Nov 04-08, 2019. p. 6775-6780. DOI : 10.1109/IROS40897.2019.8968228.

Scalable closed-form trajectories for periodic and non-periodic human-like walking

S. Faraji; A. J. Ijspeert 

2019-01-01. International Conference on Robotics and Automation (ICRA), Montreal, CANADA, May 20-24, 2019. p. 5295-5301. DOI : 10.1109/ICRA.2019.8793877.

Running birds, humans and robots: Principles of leg control for robustly stable and agile bipedal locomotion

M. A. Daley 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-77.

Considerations of limb impulse capabilities enable low-bandwidth multi-level control for online gait emergence and adaptation

C. Boussema; P. M. Wensing; A. J. Ijspeert; S. Kim 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-76.

Development of a Human Neuromuscular Balance Controller

A. D. Koelewijn; H. Wang; F. Dzeladini; A. Di Russo; A. J. Ijspeert 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-75.

Learning to walk in arbitrary legged morphologies

S. Hauser; M. Dujany; M. van der Sar; M. Mutlu; A. J. Ijspeert 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-74.

Neuromechanical simulation of human locomotion: descending modulation of spinal reflex parameters during speed changes

A. Di Russo; A. D. Koelewijn; F. Dzeladini; A. J. Ijspeert 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-73.

An Ant-Inspired Control Strategy for Active Sensing of a Crawling Robot in a Cluttered Environment

M. B. Khan; J. C. Larsen; P. Manoonpong 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-72.

Cooperative bridge building by self-reconfigurable modular robotsbased on ants’ stigmergic behaviour

J. Nguyen-Duc; M. Mutlu; S. Hauser; A. Barnerdino; A. Ijspeert 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-71.

Investigating phase resetting effect on basin of attraction for walking using a simple model

K. Okamoto; S. Aoi; I. Obayashi; H. Kokubu; K. Senda et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-70.

Experimental investigation of turning maneuverability of a multilegged robot using pitchfork bifurcation

R. Tomatsu; Y. Yabuuchi; S. Aoi; S. Fujiki; T. Funato et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-69.

Investigating phase resetting effect on adaptive rhythm control in walking based on phase response curve using a neuromusculoskeletal model

D. Tamura; S. Aoi; T. Funato; S. Fujiki; K. Senda et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-68.

Muscles Can be Brakes: the Work Loop Technique for Stable Muscle-like Control

X. Xiong; P. Manoonpong 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-67.

Uncovering the biarticular muscles contributions in pedaling by a musculoskeletal robotic platform

T-Y. Chen; S. Kano; H. Takayama; K. Hosoda 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-66.

Passive mechanical stabilization of body rotations in jumping

M. Venkadesan; A. Lee; E. Chan 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-65.

Curvature-induced stiffness in mechanical mimics of the human foot

A. Yawar; S. Mandre; M. Venkadesan 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-64.

Optimizing the periodic motion of a foil at high-Reynolds number

S. Mandre; K. S. Breuer; M. J. Miller 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-63.

Online Prediction of Synchronization Dynamics in Coupled Oscillators System

S. Takayanagi; D. Owaki; M. Hayashibe 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-62.

Rapid prototyping of insect-exoskeleton inspired robots

M. Jiang; N. Gravish 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-61.

Preliminary Study on Locomotion Performance of WaveBot on Different Surfaces Using Traveling Waves

S. P. Murali Babu; A. Sadeghi; A. Mondini; B. Mazzolai 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-60.

Motion synthesis for legged-wheeled robotic creatures

M. Geilinger; S. Winberg; S. Coros; M. Geilinger; S. Winberg et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-59.

Effects of fin kinematics on 3D force generation in underwater large pectoral fin locomotion

T. Truong; V. Joseph; P. Valdivia y Alvarado 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-58.

One approach to implicit observer: estimation of subpopulations in foraging by ants-like colony

Y. Sueoka; K. Osuka 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-57.

Exploration of sheepdog controller for sheep flock navigation based on the model derived from a real shepherding

Y. Tsunoda; Y. Sueoka; K. Osuka 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-56.

How humans run on rough terrains

N. Dhawale; M. Venkadesan 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-55.

Think With Your Feet, Not With Your Head: A Biologically Inspired Design Approach for Augmenting Unsteady Locomotion

L. K. Punith; G. S. Sawicki 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-54.

Trajectory production without a trajectory plan

A. Matic; A. Gomez-Marin; A. Matic; A. Gomez-Marin 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-53.

An integrated neurobiomechanical model of the mouse to study neural control of locomotion

S. Tata Ramalingasetty; S. M. Danner; A. Ijspeert; I. A. Rybak 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-52.

Adaptive pitching motion kinematics for tuning flapping wing aerodynamic performance

A. Gehrke; K. Mulleners 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-51.

Understanding Polypterus Senegalus Walking Locomotion from its Center of Mass Displacements

L. Paez; K. Melo; E. Standen; A. Ijspeert 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-50.

Snail-inspired crawling locomotion using urethane gel and shape memory alloy

T. Araki; Y. Masuda; M. Ishikawa 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-49.

Neuromuscular reflex based hopping control for a two-segmented robotic leg

G. Zhao; V. Henning; A. Seyfarth 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-48.

Training with Brief Visual Occlusions Improves Balance Control in Treadmill Beam Walking

E-R. Symeonidou; D. P. Ferris 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-47.

Using Mutual Information to Analyze Adaptations to Loading, Speed, and Terrain

I. D. Neveln; C. Dallmann; S. Sponberg 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-46.

Biohybrid morphing tail aerial robot

E. Chang; D. Lentink 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-45.

Locomotor control of Polypterus senegalus in viscous water

K. Lutek; E. Standen 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-44.

Contribution of each joint to the inter-joint synergy during walking

T. Hioki; J. Nishii 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-43.

Gait analysis of crawling locomotion of Octopus Sinensis

J. Nishii; M. Ikeda 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-42.

Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain

V. S. Medeiros; M. Bjelonic; E. Jelavic; R. Siegwart; M. A. Meggiolaro et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-41.

nmF: a leg force guided neuromuscular model for balance control in walking

A. Davoodi; O. Mohseni; A. Seyfarth; M. A. Sharbafi 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-40.

Lower limb muscle activity in humans walking overground at simulated reduced gravity levels

M. MacLean; D. P. Ferris 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-39.

Adaptive Morphology in Aerial-Aquatic Robots

R. Zufferey; S. Armanini; A. Farinha; M. Kovac 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-38.

A Novel CPG for Smooth and Bounded Trajectory Generation from Motion Library

V. Pasandi; A. Dinale; M. Keshmiri; D. Pucci 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-37.

Promoted Propulsion by Foot Windlass Mechanism in Jumping

X. Liu; T-Y. Chen; Y. Xu; S. Ikemoto; M. Shimizu et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-36.

More than Skin Deep: Crawling Soft Robots with Functional Skin

C. M. Donatelli; A. Scibelli; B. Tidswell; E. D. Tytell; B. A. Trimmer 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-35.

Evolution of Online Update Rules for Robust Locomotion in the SLIP Model

K. Walker; H. Hauser 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-34.

Motion Hacking –Toward Control of Insect Walking–

D. Owaki; V. Duerr; J. Schmitz 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-33.

Body of a high-speed anthropomorphic table-tennis robot with a linkage mechanism

K. TANAKA 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-32.

Soft Machines Made from Fish Myofibrillar Proteins

Y. Masuda; M. Ishikawa 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-31.

Torsional Body Flexibility Effect on Stability in Trot and Pace based on a Simple Model

M. Adachi; T. Kamimura; S. Aoi; K. Tsuchiya; F. Matsuno 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-30.

Does VPP exist in lateral balancing?

V. Firouzi; A. Seyfarth; M. A. Sharbafi 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-29.

Reflex-Based Walking Controller for Real Bipedal Robot — From Phase-based to Reflex-based —

R. Takahashi; K. Hosoda 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-28.

Body flexibility effect on rotary galloping based on a simple model

T. Kamimura; S. Aoi; Y. Higurashi; T. Matsuo; N. Wada et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-27.

An EMG-marker tracking optimization method to simulate equinus gait

F. Moissenet; C. Bélaise; B. Michaud; M. Begon 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-26.

Spinal reflexes exploit muscle characteristics: goal-directed arm movements in humans and bioinspired robotics

D. F. Haeufle; C. Pley; K. Stollenmaier; W. Ilg; S. Wolfen et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-25.

Role of trunk inertia in non-stepping balance recovery

C. Schumacher; A. Berry; A. Seyfarth; H. Vallery 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-24.

Elucidation of posture control during bipedal walking

C. Yamane; S. Kaichida; J. Nishii 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-23.

Inter- and Intra-limb Coordination Mechanism under Limited Actuator Capabilities in Adaptive Quadruped Locomotion

A. Fukuhara; S. Saito; W. Suda; T. Kano; A. Ishiguro 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-22.

Decentralized Control Scheme for Adaptive Body-limb Coordination in Centipede Walking

K. Yasui; K. Furukawa; A. Fukuhara; T. Kano; A. Ishiguro 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-21.

The Positive Side of Damping

S. Heim; M. Millard; C. Le Mouel; A. Spröwitz 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-20.

A Concept of Cognitive-based Locomotion for Quadruped Robot

A. A. Saputra; N. Kubota; A. J. Ijspeert 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-19.

Task achievement by switching emergent locomotion patterns with embodiment coupled chaotic maps

K. Horiuchi; S. Yonekura; R. Niiyama; Y. Kuniyoshi; K. Horiuchi et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-18.

Analysis of Pressure Forces During Spontaneous Turns in Zebrafish

R. Thandiackal; G. V. Lauder 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-17.

Bio-inspired actuator design for hopping

A. Mohammadi Nejad Rashty; M. Grimmer; A. Seyfarth 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-16.

The Pneufish: A soft-robotic, pneumatic model for studying fish locomotion

Z. Wolf; G. Lauder 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-15.

Designing feathered morphing wings for biohybrid aerial robots

L. Y. Matloff; E. Chang; A. K. Stowers; D. Lentink 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-14.

Interactions between spinal circuits and afferent feedback to control locomotion at different speeds: A computational modeling study

S. M. Danner; S. Aoi; S. Fujiki; S. N. Markin; T. Akay et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-13.

Modular Neural Control for Dung Beetle-like Leg Movements of a Dung Beetle-like Robot

B. Leung; P. Billeschou; M. Thor; P. Manoonpong 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-12.

Modeling and Online Learning of Musculoskeletal Intersensory Networks for Static Controls of Tendon-driven Humanoids

K. Kawaharazuka; K. Tsuzuki; S. Makino; Y. Asano; K. Okada et al. 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-11.

Unmanned Aerial Odour Distribution Sensing: Flying Pattern For Minimising Airflow Turbulence

B. Lan; A. Noriyasu; R. Kanzaki 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-10.

Defecation initiates a stereotyped behavior in the cricket Gryllus bimaculatus

K. Naniwa; Y. Sugimoto; K. Osuka; H. Aonuma 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-9.

Energy Efficiency Analysis of the Tegotae Approach for Bio-inspired Hopping

R. Zamboni; D. Owaki; M. Hayashibe 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-8.

VSBot: Navigation of a Robot Based on a Variable Stiffness Sensor

J. Zárate; T. Helbig; H. Witte 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-7.

Dynamic Intra-Swarm Module Relocation using the Brazil Nut Effect

D. O. Joshi; M. Shimizu; K. Hosoda 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-6.

A Salamander Robot Driven by Cross-Coupled Sensory Feedback Control between Legs and Trunk

S. Suzuki; T. Kano; A. J. Ijspeert; A. Ishiguro 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-5.

Non-trivial behaviors emerging from a simple decentralized rules (Part 2): A case study with swarming of individuals

T. Kano; N. Matsui; E. Naito; T. Aoshima; A. Ishiguro 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-4.

Non-trivial behaviors emerging from a simple decentralized rules (Part 1): A case study with one-dimensional crawling locomotion

T. Kano; D. Kanto; A. Ishiguro 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-3.

Analysis of locust’s unique gait mechanism focusing on leg length difference

Y. Sugimoto; S. Sugiyama; K. Naniwa; K. Osuka 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-2.

A kinematic synergy for terrestrial locomotion shared by mammals and birds

G. Catavitello; Y. Ivanenko; F. Lacquaniti 

2019. 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Lausanne, Switzerland, August 20th–23rd, 2019. DOI : 10.5075/epfl-BIOROB-AMAM2019-1.

Learning By Collaborative Teaching : An Engaging Multi-Party CoWriter Activity

L. El-Hamamsy; W. Johal; T. L. C. Asselborn; J. Nasir; P. Dillenbourg 

2019. The 28th IEEE International Conference on Robot & Human Interactive Communication (RoMan 2019), New Delhi, India, October 14 – 18, 2019. DOI : 10.1109/RO-MAN46459.2019.8956358.

Development of a simulated transtibial amputee model

C. Ferreira; F. Dzeladini; A. Ijspeert; L. P. Reis; C. P. Santos 

2019-01-01. 19th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Gondomar, PORTUGAL, Apr 24-26, 2019. p. 270-275. DOI : 10.1109/ICARSC.2019.8733636.

Scalable closed-form trajectories for periodic and non-periodic human-like walking

S. Faraji; A. Ijspeert 

2019. International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 19-24, 2019.

Exoskeletons as Mechatronic Design Example

H. Bleuler; T. Vouga; A. Ortlieb; R. Baud; J. Fasola et al. 

2019-01-01. 6th International Workshop on Medical and Service Robots (MESROB), Cassino, ITALY, 2018. p. 109-117. DOI : 10.1007/978-3-030-00329-6_13.

2018

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval – A Design, Control and Experimental Study

P. Eckert; A. E. Schmerbauch; T. Horvat; K. Söhnel; M. S. Fischer et al. 

2018-07-28. 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Frankfurt/Main, Germany, August 14-17, 2018. p. 41-55. DOI : 10.1007/978-3-319-97628-0_4.

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

K. Akiyama; K. Yasui; J. Arreguit; L. Paez; K. Melo et al. 

2018-01-01. 7th International Conference on Biomimetic and Biohybrid Systems, Living Machines (LM), Paris, FRANCE, Jul 17-20, 2018. p. 1-5. DOI : 10.1007/978-3-319-95972-6_1.

Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia

M. Bouri; A. Selfslagh; D. Campos; S. Yonamine; A. R. C. Donati et al. 

2018-01-01. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, MALAYSIA, Dec 12-15, 2018. p. 1489-1495. DOI : 10.1109/ROBIO.2018.8665270.

Nonlinear PD control of a Parallel Delta robot: Expermentals Results

C. E. Boudjedir; D. Boukhetala; M. Bouri 

2018-01-01. 3rd International Conference on Electrical Sciences and Technologies in Maghreb (CISTEM), Algiers, ALGERIA, Oct 28-31, 2018. p. 90-93. DOI : 10.1109/CISTEM.2018.8613618.

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

C. Rognon; A. R. Wu; S. Mintchev; A. Ijspeert; D. Floreano 

2018-01-01. 11th International Conference on Haptics – Science, Technology, and Applications (EuroHaptics), Pisa, ITALY, Jun 13-16, 2018. p. 404-415. DOI : 10.1007/978-3-319-93399-3_35.

Fast multi-contact whole-body motion planning with limb dynamics

J. Arreguit; S. Faraji; A. J. Ijspeert 

2018-01-01. 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Beijing, PEOPLES R CHINA, Nov 06-09, 2018. p. 25-32. DOI : 10.1109/HUMANOIDS.2018.8624936.

Stiffness variability in jamming of compliant granules and a case study application in climbing vertical shafts

S. Hauser; M. Mutlu; F. Freundler; A. Ijspeert 

2018-01-01. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, AUSTRALIA, May 21-25, 2018. p. 1559-1566. DOI : 10.1109/ICRA.2018.8462899.

Decoding the Neural Mechanisms Underlying Locomotion Using Mathematical Models and Bio-inspired Robots: From Lamprey to Human Locomotion

A. J. Ijspeert 

2018-01-01. 12th International Symposium on Robotics Research (ISRR), Sestri Levante, ITALY, Sep 12-15, 2015. p. 177-186. DOI : 10.1007/978-3-319-51532-8_11.

Playdough to Roombots: Towards a Novel Tangible User Interface for Self-reconfigurable Modular Robots

M. Mutlu; S. Hauser; A. Bernardino; A. Ijspeert 

2018-01-01. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, AUSTRALIA, May 21-25, 2018. p. 1970-1977. DOI : 10.1109/ICRA.2018.8461248.

Range-based underwater target localization using an autonomous surface vehicle: Observability analysis

N. Crasta; D. Moreno-Salinas; B. Bayat; A. Pascoal; J. Aranda 

2018.  p. 487-496. DOI : 10.1109/PLANS.2018.8373417.

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

C. Rognon; A. Wu; S. Mintchev; A. Ijspeert; D. Floreano 

2018. Eurohaptics 2018, Pisa, Italy, June 13-16 2018.

2017

Active stabilization of a stiff quadruped robot using local feedback

R. Vasconcelos; S. Hauser; F. Dzeladini; M. Mutlu; T. Horvat et al. 

2017-09-24. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 24-28, 2017. p. 4903-4910. DOI : 10.1109/IROS.2017.8206369.

Self-reconfigurable modular robot interface using virtual reality: Arrangement of furniture made out of roombots modules

V. Nigolian; M. Mutlu; S. Hauser; A. Bernardino; A. Ijspeert 

2017-08-28. IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), Lisbon, Portugal, 28 Aug.-1 Sept. 2017. p. 772-778. DOI : 10.1109/ROMAN.2017.8172390.

Fast state-switching of a jamming-based foot

S. Hauser; K. Melo; M. Mutlu; A. Ijspeert 

2017. The 8th International Symposium on Adaptive Motion of Animals and Machines (AMAM2017), Sapporo, Japan, June 27-30, 2017.

Challenges in visual and inertial information gathering for a sprawling posture robot

M. Parsapour; K. Melo; T. Horvat; A. J. Ijspeert 

2017.  p. 2691-2697. DOI : 10.1109/IROS.2017.8206094.

Model predictive control based framework for CoM control of a quadruped robot

T. Horvat; K. Melo; A. Ijspeert 

2017. DOI : 10.1109/IROS.2017.8206176.

A Simple Body-limb Coordination Model that Mimics Primitive Tetrapod Walking

S. Suzuki; A. Fukuhara; D. Owaki; T. Kano; A. J. Ijspeert et al. 

2017. 56th Annual Conference of the Society-of-Instrument-and-Control-Engineers-of-Japan (SICE), Kanazawa Univ, Kanazawa, JAPAN, SEP 19-22, 2017. p. 12-14. DOI : 10.23919/SICE.2017.8105624.

Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators

T. J. H. Brug; F. Dzeladini; A. R. Wu; A. J. Ijspeert 

2017. 3rd International Conference on NeuroRehabilitation (ICNR), Segovia, SPAIN, OCT 18-21, 2016. p. 633-637. DOI : 10.1007/978-3-319-46669-9_104.

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

J. Lanini; A. Duburcq; A. Ijspeert 

2017. 3rd International Conference on NeuroRehabilitation (ICNR), Segovia, SPAIN, OCT 18-21, 2016. p. 229-234. DOI : 10.1007/978-3-319-46669-9_40.

A Versatile Neuromuscular Exoskeleton Controller for Gait Assistance: A Preliminary Study on Spinal Cord Injury Patients

A. R. Wu; F. Dzeladini; T. J. H. Brug; F. Tamburella; N. L. Tagliamonte et al. 

2017. 2nd International Symposium on Wearable Robotics (WeRob), Segovia, SPAIN, OCT 18-21, 2016. p. 163-167. DOI : 10.1007/978-3-319-46532-6_27.

Multi-physics modelling of a compliant humanoid robot

A. A. Zobova; T. Habra; N. Van Der Noot; H. Dallali; N. G. Tsagarakis et al. 

2017. ECCOMAS Thematic Conference on Multibody Dynamics, Univ Politecnica Catalunya, Barcelona Sch Ind Engn, Barcelona, SPAIN, JUN 29-JUL 02, 2015. p. 95-114. DOI : 10.1007/s11044-016-9545-4.

2016

Muscle activation variability is inversely correlated with walking speed

F. Dzeladini; A. Grappe; C. Simpson; A. Ijspeert 

2016-10-18. 3rd International Conference on NeuroRehabilitation (ICNR2016), Segovia, Spain, October 18-21, 2016. p. 1025-1029. DOI : 10.1007/978-3-319-46669-9_166.

Mechanical Stability Margin for Scouting Poses in Modular Snake Robots

D. Roa; K. Melo 

2016. 14th IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, SWITZERLAND, OCT 23-27, 2016. p. 182-188. DOI : 10.1109/SSRR.2016.7784296.

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

S. W. Heim; M. Ajallooeian; P. Eckert; M. Vespignani; A. Ijspeert 

2016. 18th Climbing and Walking Robots Conference (CLAWAR), Hangzhou, PEOPLES R CHINA, SEP 06-09, 2015. p. 256-264.

Friction and damping of a compliant foot based on granular jamming for legged robots

S. Hauser; P. Eckert; A. Tuleu; A. Ijspeert 

2016. 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), SINGAPORE, JUN 26-29, 2016. p. 1160-1165.

Bio-inspired balance controller for a humanoid robot

F. Heremans; N. Van Der Noot; A. Ijspeert; R. Ronsse 

2016. 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), SINGAPORE, JUN 26-29, 2016. p. 441-448. DOI : 10.1109/BIOROB.2016.7523667.

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

F. Dzeladini; A. R. Wu; D. Renjewski; A. Arami; E. Burdet et al. 

2016. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, June 26-29, 2016. p. 617-622. DOI : 10.1109/BIOROB.2016.7523694.

Optimal Search Strategies for Pollutant Source Localization

B. Bayat; N. Crasta; H. Li; A. Ijspeert 

2016. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 9-14, 2016. p. 1801-1807. DOI : 10.1109/IROS.2016.7759287.

Envirobot: A Bio-Inspired Environmental Monitoring Platform

B. Bayat; A. Crespi; A. Ijspeert 

2016. IEEE/OES Conference on Autonomous Underwater Vehicles (AUV), Tokyo, Japan, November 6-9, 2016. p. 381-386. DOI : 10.1109/AUV.2016.7778700.

Natural user interface for lighting control: Case study on desktop lighting using modular robots

M. Mutlu; S. Bonardi; M. Vespignani; S. Hauser; A. Bernardino et al. 

2016. IEEE International Symposium on Robot and Human Interactive Communication, New York City, NY, USA, August 26-31, 2016. p. 288-293. DOI : 10.1109/ROMAN.2016.7745144.

Autonomous Learning of Internal Dynamic Models for Reaching Tasks

T. Petric; A. Ude; A. J. Ijspeert 

2016. 24th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Bucharest, ROMANIA, MAY 27-29, 2015. p. 439-447. DOI : 10.1007/978-3-319-21290-6_44.

Interfacing a salamander brain with a salamander-like robot: Control of speed and direction with calcium signals from brainstem reticulospinal neurons

D. Ryczko; R. Thandiackal; A. Ijspeert 

2016. 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, Singapore, 26-29 June 2016. p. 1140-1147. DOI : 10.1109/BIOROB.2016.7523785.

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

S. Faraji; A. Ijspeert 

2016. Intelligent Robots and Systems (IROS), Daejon, South Korea, October 9-14. p. 5564-5571. DOI : 10.1109/IROS.2016.7759818.

2015

Where to place cameras on a snake robot: Focus on camera trajectory and motion blur

M. Mutlu; K. Melo; M. Vespignani; A. Bernardino; A. J. Ijspeert 

2015. 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), West Lafayette, IN, 18-20 October 2015. p. 1-8. DOI : 10.1109/SSRR.2015.7442948.

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

T. Horvat; K. Karakasiliotis; K. Melo; L. Fleury; R. Thandiackal et al. 

2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September – 2 October 2015. p. 195-201. DOI : 10.1109/IROS.2015.7353374.

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

K. Weinmeister; P. Eckert; H. Witte; A. Ijspeert 

2015. 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics, Purdue University, West Lafayette, Indiana, USA, October 18-20, 2015. DOI : 10.1109/SSRR.2015.7443021.

Compliant snake robot locomotion on horizontal pipes

M. Vespignani; K. Melo; M. Mutlu; A. Ijspeert 

2015. 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics, Purdue University, West Lafayette, Indiana, USA, October 18-20, 2015. DOI : 10.1109/SSRR.2015.7442941.

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

L. Colasanto; N. Van der Noot; A. J. Ijspeert 

2015. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul, South Korea, 3-5 November 2015. p. 26-32. DOI : 10.1109/HUMANOIDS.2015.7363518.

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

N. Van der Noot; L. Colasanto; A. Barrea; J. Van den kieboom; R. Ronsse et al. 

2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September – 2 October 2015. p. 393-400. DOI : 10.1109/IROS.2015.7353403.

Biped gait controller for large speed variations, combining reflexes and a central pattern generator in a neuromuscular model

N. Van der Noot; A. J. Ijspeert; R. Ronsse 

2015. 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 26-30 May 2015. p. 6267-6274. DOI : 10.1109/ICRA.2015.7140079.

Role of Compliance on the Locomotion of a Reconfigurable Modular Snake Robot

M. Vespignani; K. Melo; S. Bonardi; A. Ijspeert 

2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, Sept 28 – Oct 2, 2015. p. 2238-2245. DOI : 10.1109/IROS.2015.7353677.

Practical considerations in using inverse dynamics on a humanoid robot: torque tracking, sensor fusion and Cartesian control laws

S. Faraji; L. Colasanto; A. Ijspeert 

2015. IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, September 28 – October 02. DOI : 10.1109/IROS.2015.7353584.

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert 

2015. ICRA 2015, Seattle, Washington, USA, May 26-30, 2015. p. 3128-3133. DOI : 10.1109/ICRA.2015.7139629.

Simplifying Control through Active Tail Use

S. W. Heim; M. Ajallooeian; M. Vespignani; P. Eckert; A. Ijspeert 

2015. Annual Meeting of the Society-for-Integrative-and-Comparative-Biology (SICB). p. E272-E272.

2014

A Neuromuscular Model for Symbiotic Man-Machine Exoskeleton Control Accounting for Patient Impairment Specificity

F. Dzeladini; A. Pennycott; A. Ijspeert; E. Burdet 

2014-09-15. Werob 2014, The International Workshop on Wearable Robotics, Baiona, Spain, September 14-19, 2014.

Zero-Moment Point on a bipedal robot under bio-inspired walking control

N. Van der Noot; A. Barrea 

2014. MELECON 2014 – 2014 17th IEEE Mediterranean Electrotechnical Conference, Beirut, Lebanon, 13-16 04 2014. p. 85-90. DOI : 10.1109/MELCON.2014.6820512.

Natural User Interface for Roombots

A. Ozgur; S. Bonardi; M. Vespignani; R. Mockel; A. J. Ijspeert 

2014. 2014 RO-MAN: The 23rd IEEE International Symposium on Robot and Human Interactive Communication, Edinburgh, UK, 25-29 August 2014. p. 12-17. DOI : 10.1109/ROMAN.2014.6926223.

Rich periodic motor skills on humanoid robots: Riding the pedal racer

A. Gams; J. Van den Kieboom; M. Vespignani; L. Guyot; A. Ude et al. 

2014. 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May – 7 June 2014. p. 2326-2332. DOI : 10.1109/ICRA.2014.6907181.

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

S. Bonardi; M. Vespignani; R. Möckel; J. Van den Kieboom; S. Pouya et al. 

2014. Robotics: Science and Systems, Berkeley, USA, July 14-16, 2014.

Robust Walking Using Peicewise Linear Spring

M. Khoramshahi; A. Asaei; A. Ijspeert; M. Nili Ahmadabadi 

2014. Dynamic Walking 2014, ETH Zurich, Switzerland, June 10-13, 2014.

Energy Efficient Locomotion with Adaptive Natural Oscillator

M. Khoramshahi; R. Nasiri; A. Ijspeert; M. Nili Ahmadabadi 

2014. Dynamic Walking 2014, ETH Zurich, Switzerland, June 10-13, 2014.

Natural Dynamics Modification for Energy Efficiency: A Data-driven Parallel Compliance Design Method

M. Khoramshahi; A. Parsa; A. Ijspeert; M. Nili Ahmadabadi 

2014. 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, May 31 – June 7, 2014. p. 2412-2417. DOI : 10.1109/ICRA.2014.6907194.

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

S. Faraji; S. Pouya; A. Ijspeert 

2014. Robotics Science and Systems (RSS), Berkeley, CA, USA, July 12–16, 2014. DOI : 10.15607/RSS.2014.X.028.

Versatile and robust 3D walking with a simulated humanoid robot (Atlas): A model predictive control approach

S. Faraji; S. Pouya; C. G. Atkeson; A. J. Ijspeert 

2014. 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 31 May – 7 June 2014. p. 1943-1950. DOI : 10.1109/ICRA.2014.6907116.

2013

Angular Motion Control Using a Closed-Loop CPG for a Water-Running Robot

N. Thatte; M. Khoramshahi; A. Ijspeert; M. Sitti 

2013. Dynamic Walking 2013, Pittsburgh, Pennsylvania, USA, June 10-13, 2013.

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

M. Vespignani; E. Senft; S. Bonardi; R. Moeckel; A. J. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 4308-4313.

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

M. Ajallooeian; S. Gay; A. Tuleu; A. Sproewitz; A. J. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3390-3397.

Gait Optimization for Roombots Modular Robots – Matching Simulation and Reality

R. Moeckel; Y. N. Perov; T. N. Anh; M. Vespignani; S. Bonardi et al. 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 3265-3272.

Collaborative Manipulation and Transport of Passive Pieces using the Self-Reconfigurable Modular Robots Roombots

S. Bonardi; M. Vespignani; R. Moeckel; A. J. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 2406-2412.

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

S. Gay; J. Santos-Victor; A. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). p. 194-201.

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

J. van den Kieboom; A. J. Ijspeert 

2013. IEEE Conference on Humanoids Robots, Atlanta USA, October 15-17, 2013.

Meta Morphic Particle Swarm Optimization

J. van den Kieboom; S. Pouya; A. Ijspeert 

2013. VI International Workshop on Nature Inspired Cooperative Strategies for Optimization, Canterbury, UK, September 2-4, 2013. p. 231-244. DOI : 10.1007/978-3-319-01692-4_18.

Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks

A. Gams; B. Nemec; L. Zlajpah; M. Wachter; A. Ijspeert et al. 

2013. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-7, 2013. p. 5629-5635. DOI : 10.1109/IROS.2013.6697172.

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

S. Gay; J. van den Kieboom; J. Santos-Victor; A. Ijspeert 

2013. IEEE Conference on Humanoids Robots, Atlanta, USA, October 15-17, 2013.

Indirect, Non-adaptive Control of a Class of Nonlinear Uncertain Systems with Applications to Motion Control of Swimming Robots

Y. Morel; A. J. Ijspeert; A. Leonessa 

2013. [5th Annual Dynamic Systems and Control Division Conference / 11th JSME Motion and Vibration Conference. p. 179-186.

Stable real-time full body motion imitation on the COMAN humanoid robot.

A. Gams; J. van den Kieboom; F. Dzeladini; A. Ijspeert 

2013. 22nd International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2013, Portorož, Slovenia, September 11 – 13, 2013.

Motion capture and reinforcement learning of dynamically stable humanoid movement primitives

R. Vuga; M. Ogrinc; A. Gams; T. Petric; N. Sugimoto et al. 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 6-10 05 2013. p. 5284-5290. DOI : 10.1109/ICRA.2013.6631333.

Gait Optimization for Roombots Modular Robots – Matching Simulation and Reality

R. Möckel; Y. Perov; A. The Nguyen; M. Vespignani; S. Bonardi et al. 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.

An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots

M. Vespignani; E. Senft; S. Bonardi; R. Möckel; A. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 3-8, 2013.

Collaborative Manipulation and Transport of Passive Pieces Using the Self-Reconfigurable Modular Robots Roombots

S. Bonardi; M. Vespignani; R. Möckel; A. Ijspeert 

2013. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo Big Sight, Tokyo, Japan, November 3-7, 2013.

Learning Robot Gait Stability using Neural Networks as Sensory Feedback Function for Central Pattern Generators

S. Gay; J. Santos-Victor; A. Ijspeert 

2013. EEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.

Modular Control of Limit Cycle Locomotion over Unperceived Rough Terrain

M. Ajallooeian; S. Gay; A. Tuleu; A. Sprowitz; A. Ijspeert 

2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, November 3-8, 2013.

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

J. Knuesel; K. Karakasiliotis; A. Crespi; D. Ryczko; J-M. Cabelguen et al. 

2013. Annual Meeting of the Society for Integrative and Comparative Biology (SICB). p. E113.

Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot

A. Sprowitz; E. Badri; M. Khoramshahi; A. Tuleu; A. Ijspeert 

2013. Dynamic Walking, Pittsburgh, USA, June, 2013.

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

M. Khoramshahi; A. Sprowitz; A. Tuleu; M. N. Ahmadabadi; A. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 – 10, 2013.

Central Pattern Generators Augmented with Virtual Model Control for Quadruped Rough Terrain Locomotion

M. Ajallooeian; S. Pouya; A. Sproewitz; A. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.

Compliant and adaptive control of a planar monopod hopper in rough terrain

S. Faraji; S. Pouya; R. Moeckel; A. J. Ijspeert 

2013. 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 6-10 05 2013. p. 4818-4825. DOI : 10.1109/ICRA.2013.6631264.

2012

Quasi-stationary optimal control for wind farm with closely spaced turbines

T. Horvat; V. Spudić; M. Baotić 

2012. 

A Closed-Loop Optimal Control Approach for Online Control of A Planar Monopod Hopper

S. Pouya; M. Ajallooeian; A. Ijspeert 

2012. 15th International Conference on Climbing and walking Robots (CLAWAR), Maryland, USA, July 23-26, 2012.

Locomotion studies and modeling of the long-tailed lizard Takydromus sexlineatus

K. Karakasiliotis; K. D’Aout; P. Aerts; A. J. Ijspeert 

2012. 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics. p. 943-948.

Estimation of Relative Position and Coordination of Mobile Underwater Robotic Platforms through Electric Sensing

Y. Morel; M. Porez; A. J. Ijspeert 

2012. IEEE International Conference on Robotics and Automation (ICRA). p. 1131-1136.

Predictive Gaze Stabilization During Periodic Locomotion Based On Adaptive Frequency Oscillators

S. Gay; A. Ijspeert; J. S. Victor 

2012. IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA, May 14-18, 2012. p. 271-278.

Robot Trotting with Segmented Legs in Simulation and Hardware.

A. Spröwitz; A. Tuleu; M. Vespignani; M. Ajallooeian; E. Badri 

2012. Dynamic Walking 2012, Pensacola Beach, Florida. USA, May 21-24, 2012. p. 46-47.

Design and Evaluation of a Graphical iPad Application for Arranging Adaptive Furniture

S. Bonardi; J. Blatter; J. Fink; R. Möckel; P. Jermann et al. 

2012. 21st IEEE International Symposium on Robot and Human Interactive Communication, Paris, France, September 9-13, 2012. DOI : 10.1109/ROMAN.2012.6343768.

Locomotion through Reconfiguration based on Motor Primitives for Roombots Self-Reconfigurable Modular Robots

S. Bonardi; R. Möckel; A. Spröwitz; M. Vespignani; A. Ijspeert 

2012. 7th German Conference on Robotics – Robotik 2012, Munich, Germany, May 22-25, 2012.

2011

Robot Head Stabilization During Periodic Locomotion Using Adaptive Dynamical Systems

S. Gay; A. Ijspeert; J. Santos-Victor 

2011. The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM2011), AwajiCity, Hyogo, Japan, October 11-14, 2011. p. 43-44.

Co-evolution of Morphology and Control of Virtual Legged Robots for the Steering Task

K. Larpin; S. Pouya; J. van den Kieboom; A. Ijspeert 

2011. IEEE International conference on Robotics and Biomimetics (IEEE ROBIO), Phuket, Thailand, 2011. DOI : 10.1109/ROBIO.2011.6181729.

Oncilla robot: a light-weight bio-inspired quadruped robot for fast locomotion in rough terrain

A. Spröwitz; L. Kuechler; A. Tuleu; M. Ajallooeian; M. D’Haene et al. 

2011. 5th International Symposium on Adaptive Motion of Animals and Machines, Awaji, Japan, October 11-14, 2011.

Locomotion Gait Optimization For Modular Robots; Coevolving Morphology and Control

S. Pouya; E. Aydin; R. Moeckel; A. J. Ijspeert 

2011. 2nd European Future Technologies Conference and Exhibition (FET), Budapest, HUNGARY, May 04-06, 2011. p. 320-322. DOI : 10.1016/j.procs.2011.09.084.

Multi-physics model of an electric fish-like robot: numerical aspects and application to obstacle avoidance

M. Porez; V. Lebastard; A. J. Ijspeert; F. Boyer 

2011. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, Sep 25-30, 2011. p. 1901-1906. DOI : 10.1109/IROS.2011.6094636.

Oscillator-based Walking Assistance: a Model-free Approach

R. Ronsse; B. Koopman; N. Vitiello; T. Lenzi; D. Rossi et al. 

2011. IEEE International Conference on Rehabilitation Robotics (ICORR)/International Neurorehabilitation Symposium (INRS)/International Conference on Virtual Rehabilitation (ICVR), Zurich, SWITZERLAND, Jun 27-Jul 01, 2011. DOI : 10.1109/ICORR.2011.5975352.

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

M. D. Rinderknecht; F. A. Delaloye; A. Crespi; R. Ronsse; A. J. Ijspeert 

2011. IEEE International Conference on Rehabilitation Robotics (ICORR)/International Neurorehabilitation Symposium (INRS)/International Conference on Virtual Rehabilitation (ICVR), Zurich, SWITZERLAND, Jun 27-Jul 01, 2011.

Nonlinear Motion Control of CPG-based Movement with Applications to a Class of Swimming Robots

Y. Morel; M. Porez; A. Leonessa; A. J. Ijspeert 

2011. 50th IEEE Conference of Decision and Control (CDC)/European Control Conference (ECC), Orlando, FL, Dec 12-15, 2011. p. 6331-6336.

Stability Augmentation of SLIP-like Legged Locomotion Exploiting Hip Actuation

S. Pouya; R. Möckel; F. Peuker; A. Seyfarth; A. Ijspeert 

2011. 14th International Conference on Climbing and Walking Robots (CLAWAR) and the Support Technologies for Mobile Machines, Paris, France, August 2011. p. 790-797. DOI : 10.1142/9789814374286_0092.

Co-evolution of Morphology and Control of a Wearable Robot for Human Locomotion Assistance Exploiting Variable Impedance Actuators

J. van den Kieboom 

2011. 2nd European Future Technologies Conference and Exhibition, Budapest, Hungary, May 4-6, 2011. p. 223-225. DOI : 10.1016/j.procs.2011.09.043.

Effects of muscle dynamics and proprioceptive feedback on the kinematics and CPG activity of salamander stepping

J. Knuesel; A. J. Ijspeert 

2011. Twentieth Annual Computational Neuroscience Meeting, Stockholm, Sweden, July 23-28, 2011. p. P158. DOI : 10.1186/1471-2202-12-S1-P158.

Modeling axial spinal segments of the salamander central pattern generator for locomotion

A. Bicanski; D. Ryczko; J-M. Cabelguen; A. J. Ijspeert 

2011. Twentieth Annual Computational Neuroscience Meeting, Stockholm, Sweden, July 23-28, 2011. p. P157. DOI : 10.1186/1471-2202-12-S1-P157.

2010

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

S. Gay; S. Dégallier Rochat; A. Ijspeert; J. Santos-Victor 

2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 18-22 Oct. 2010. p. 183-189. DOI : 10.1109/IROS.2010.5648788.

Adaptive Oscillators with Human-in-the-Loop: Proof of Concept for Assistance and Rehabilitation

R. Ronsse; N. Vitiello; T. Lenzi; J. van den Kieboom; M. C. Carrozza et al. 

2010. 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2010), Tokyo, Japan, September 26-29, 2010. p. 668-674.

Roombots-Towards Decentralized Reconfiguration with Self-Reconfiguring Modular Robotic Metamodules

A. Spröwitz; P. Laprade; S. Bonardi; M. Mayer; R. Möckel et al. 

2010. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. p. 1126-1132.

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

S. Pouya; J. van den Kieboom; A. Spröwitz; A. Ijspeert 

2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010. p. 514-520.

Distributed Online Learning of Central Pattern Generators in Modular Robots

D. J. Christensen; A. Spröwitz; A. Ijspeert 

2010. Simulation of Adaptive Behaviour (SAB’10), Paris, France, 24-28 August 2010.

2009

Decoding the mechanisms of gait transition in the salamander using robots and mathematical models

A. Ijspeert 

2009. Annual Meeting of the Society-for-Experimental-Biology, Glasgow, SCOTLAND, Jun 28-Jul 01, 2009. p. S136-S136. DOI : 10.1016/j.cbpa.2009.04.247.

Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running

M. A. Daley; L. Righetti; A. Ijspeert 

2009. Annual Meeting of the Society-for-Experimental-Biology, Glasgow, SCOTLAND, Jun 28-Jul 01, 2009. p. S135-S135. DOI : 10.1016/j.cbpa.2009.04.243.

Compliant Leg Design for a Quadruped Robot

A. Sproewitz; M. Fremerey; K. Karakasiliotis; S. Rutishauser; L. Righetti et al. 

2009. Dynamic Walking 2009, Vancouver, Canada, June, 2009.

Graph signature for self-reconfiguration planning of modules with symmetry

M. Asadpour; M. H. Z. Ashtiani; A. Sproewitz; A. J. Ijspeert 

2009. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, USA, October 11-15, 2009. p. 5295-5300.

Roombots-Mechanical Design of Self-Reconfiguring Modular Robots for Adaptive Furniture

A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert 

2009. 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009. p. 4259-4264. DOI : 10.1109/ROBOT.2009.5152613.

Analysis of the terrestrial locomotion of a salamander robot

K. Karakasiliotis; A. J. Ijspeert 

2009. IROS 2009, St. Louis, USA, October, 2009. p. 5015-5020.

Self-Scaling Stream Processing: a Bio-Inspired Approach to Resource Allocation through Dynamic Task Replication

P-A. Mudry; J. Ruffin; G. Tempesti 

2009. NASA/ESA Conference on Adaptive Hardware and Systems, San Francisco, July 29. DOI : 10.1109/AHS.2009.25.

2008

Fractional multi-models of the frog gastrocnemius muscle

L. Sommacal; P. Melchior; A. Oustaloup; J-M. Cabelguen; A. J. Ijspeert 

2008. 2nd Workshop on Fractional Differentiation and Its Applications (FDA ‘ 06), Porto, PORTUGAL, Jul 19-21, 2006. p. 1415-1430. DOI : 10.1177/1077546307087440.

A bio-inspired architechture for movement generation based on discrete and rythmic movement primitives modeled by dynamical systems

S. Degallier; A. J. Ijspeert 

2008.  p. 88-89.

Biologically inspired CPG based above knee active prosthesis

G. C. Nandi; A. J. Ijspeert; A. Nandi 

2008.  p. 2368-2373. DOI : 10.1109/IROS.2008.4650600.

A Dynamical System for Online Learning of Periodic Movements of Unknown Waveform and Frequency

A. Gams; L. Righetti; A. J. Ijspeert; J. Lenarcic 

2008. International Conference on Biomedical Robotics and Biomechatronics (BioRob), Scottsdale, October 19-22, 2008.

Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots

L. Matthey; L. Righetti; A. J. Ijspeert 

2008. Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on Robotics and Systems, Nice, September 22-26, 2008. p. 1860-1865.

Pattern generators with sensory feedback for the control of quadruped locomotion

L. Righetti; A. J. Ijspeert 

2008. 2008 IEEE International Conference on Robotics and Automation, Pasadena, May 19-23, 2008. p. 819-824.

An active connection mechanism for modular self-reconfigurable robotic systems based on physical latching

A. Sproewitz; M. Asadpour; Y. Bourquin; A. J. Ijspeert 

2008. 2008 IEEE International Conference on Robotics and Automation, Pasadena, May 19-23, 2008.

Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots

L. Righetti; A. J. Ijspeert 

2008. Adaptive Motion of Animals and Machines (AMAM 2008), Cleveland, June 1-6, 2008. p. 90-91.

Locomotion in modular robots based on central pattern generators

A. Sproewitz; R. Moeckel; J. Maye; M. Asadpour; A. J. Ijspeert 

2008. Adaptive Motion of Animals and Machines (AMAM 2008), Cleveland, June 1-6, 2008. p. 86-87.

Graph signature for self-reconfiguration planning

M. Asadpour; A. Sproewitz; A. Billard; P. Dillenbourg; A. J. Ijspeert 

2008. International Conference on Intelligent Robots and Systems, Nice, September 22-26, 2008. p. 863-869. DOI : 10.1109/IROS.2008.4650673.

Passive compliant quadruped robot using central pattern generators for locomotion control

S. Rutishauser; A. Sproewitz; L. Righetti; A. J. Ijspeert 

2008. International Conference on Biomedical Robotics and Biomechatronics, Scottsdale, October 19-22, 2008.

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

A. Gams; S. Degallier; A. Ijspeert; J. Lenarcic 

2008. 15th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), 2008.

A modular bio-inspired architecture for movement generation for the infant-like robot iCub

S. Degallier; L. Righetti; L. Natale; F. Nori; G. Metta et al. 

2008. 2nd IEEE RAS / EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Scottsdale, AZ,

Gaming controllers for research robots: controlling a humanoid robot using a WIIMOTE

A. Gams; P-A. Mudry 

2008. 17th International Electrotechnical and Computer Science Conference (ERK08), Portorož, September. p. 191-194.

A hardware-software design framework for distributed cellular computing

P-A. Mudry; J. Ruffin; M. Ganguin; G. Tempesti 

2008. 8th International Conference on Evolvable Systems, Prague, September 21-24, 2008. p. 71–82.

On the influence of symbols and myths in the responsibility ascription problem in roboethics – A roboticist’s perspective

P-A. Mudry; S. Degallier; A. Billard 

2008. RO-MAN, Münich, August 2008. p. 563–568.

2007

Knowledge-based Extraction of Area of Expertise for Cooperation in Learning

M. N. Ahmadabadi; A. Imanipour; B. N. Araabi; M. Asadpour; R. Siegwart 

2007. IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS], Beijing, China, 9-15 Oct. 2006. DOI : 10.1109/IROS.2006.281730.

Online trajectory generation in an amphibious snake robot using a lamprey-like central pattern generator model

A. J. Ijspeert; A. Crespi 

2007. IEEE International Conference on Robotics and Automation, Rome, Italy, Apr 10-14, 2007. p. 262-268. DOI : 10.1109/ROBOT.2007.363797.

An Easy to Use Bluetooth Scatternet Protocol for fast Data Exchange in Wireless Sensor Networks and Autonomous Robots

R. Moeckel; A. Sproewitz; J. Maye; A. J. Ijspeert 

2007. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007. p. 2801-2806.

Adaptive Locomotion Control in Modular Robotics

A. Sproewitz; R. Moeckel; J. Maye; M. Asadpour; A. J. Ijspeert 

2007. Workshop on Self-Reconfigurable Robots/Systems and Applications IROS07. p. 81-84.

Lower Body Realization of the Baby Humanoid – ‘iCub’

N. Tsagarakis; F. Becchi; L. Righetti; A. J. Ijspeert; D. G. Caldwell 

2007.  p. 3616-3622.

Biologically Inspired Kinematic Synergies Provide a New Paradigm for Balance Control of Humanoid Robots

H. Hauser; G. Neumann; A. J. Ijspeert; W. Maass 

2007. HUMANOIDS 2007, Pittsburgh, USA, 29 Nov – 01 Dec, 2007.

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

S. Degallier; L. Righetti; A. Ijspeert 

2007. IEEE-RAS International Conference on Intelligent Robots and Systems (IROS07), San Diego,

Self-organizing Systems Based on Bio-inspired Properties

A. Stauffer; D. Mange; J. Rossier 

2007. Advances in Artificial Life, 9th European Conference (ECAL 2007), Lisbon, Portugal, p. 1171-1181. DOI : 10.1007/978-3-540-74913-4_117.

Bio-inspired Systems with Self-developing Mechanisms

A. Stauffer; D. Mange; J. Rossier; F. Vannel 

2007. Evolvable Systems: From Biology to Hardware, 7th International Conference (ICES 2007), Wuhan, China, p. 151-162. DOI : 10.1007/978-3-540-74626-3_15.

Design of Self-organizing Bio-inspired Systems

A. Stauffer; D. Mange; J. Rossier 

2007. Second NASA/ESA Conference on Adaptive Hardware and Systems (AHS 2007). p. 413-419.

CONFETTI : A reconfigurable hardware platform for prototyping cellular architectures

P-A. Mudry; F. Vannel; G. Tempesti; D. Mange 

2007. RAW’2007, Long Island, CA, March 27th-28th, 2007. p. 1–8.

2006

Project course “Design of Mechatronic Systems”

C. Koch; A. Sproewitz; O. Radler; T. Stroehla; V. Zoeppig 

2006. IEEE International Conference on Mechatronics (ICM 2006), Budapest, Hungary, July 3-5, 2006.

The RobotCub project — an open framework for research in embodied cognition

G. Metta; G. Sandini; D. Vernon; D. Caldwell; N. Tsagarakis et al. 

2006. 

Reduction of Learning Time for Robots Using Automatic State Abstraction

M. Asadpour; M. N. Ahmadabadi; R. Siegwart 

2006. Proc. of the First European Symposium on Robotics, Palermo, Italy, 16-18 March, 2006. p. 79-92. DOI : 10.1007/11681120_7.

Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees

M. Asadpour; M. N. Ahmadabadi; R. Siegwart 

2006. Proc. of the IEEE/RSJ Conf. on Intelligent Robots and Systems [IROS], Beijing, China,

Programmable Central Pattern Generators: an application to biped locomotion control

L. Righetti; A. J. Ijspeert 

2006. 

BoxyBot: a swimming and crawling fish robot controlled by a central pattern generator

D. Lachat; A. Crespi; A. J. Ijspeert 

2006. 

Programmable Central Pattern Generators

L. Righetti; J. Buchli; A. J. Ijspeert; A. J. Ijspeert 

2006. EPFL LATSIS Symposium 2006, Lausanne, March 8-10, 2006. p. 129-130.

Adaptive Four Legged Locomotion Control Based on Nonlinear Dynamical Systems

G. Brambilla; J. Buchli; A. J. Ijspeert 

2006. DOI : 10.1007/11840541_12.

Adaptive Frequency Oscillators applied to dynamic walking II. Adapting to resonant body dynamics

J. Buchli; L. Righetti; A. J. Ijspeert 

2006. 

Adaptive dynamical systems: A promising tool for embodied artificial intelligence

J. Buchli; L. Righetti; A. J. Ijspeert 

2006. 

Design methodologies for central pattern generators: towards ‘intelligent’ locomotion in robots

L. Righetti; A. J. Ijspeert 

2006. 

Design methodologies for central pattern generators: an application to crawling humanoids

L. Righetti; A. J. Ijspeert 

2006. Proceedings of Robotics: Science and Systems, Philadelphia, USA, p. 191-198.

Finding Resonance: Adaptive Frequency Oscillators for Dynamic Legged Locomotion

J. Buchli; F. Iida; A. J. Ijspeert 

2006.  p. 3903-3909.

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

A. Crespi; A. J. Ijspeert 

2006.  p. 19-27.

Movement generation using dynamical systems: a humanoid robot performing a drumming task

S. Degallier; C. Santos; L. Righetti; A. Ijspeert 

2006. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS06), Genova, December, 2006.

A Dynamically Constrained Genetic Algorithm For Hardware-software Partitioning

P-A. Mudry; G. Zufferey; G. Tempesti 

2006. GECCO, Seattle, Washington, USA., July 8–12, 2006. p. 769–776.

Self-replication for reliability: bio-inspired hardware and the embryonics project

G. Tempesti; D. Mange; P-A. Mudry; J. Rossier; A. Stauffer 

2006. Conference On Computing Frontiers, Ischia, Italy, p. 199-206. DOI : 10.1145/1128022.1128050.

Hardware/Software Coevolution of Genome Programs and Cellular Processors

G. Tempesti; P-A. Mudry; G. Zufferey 

2006. AHS’06, Istanbul, June 16-18, 2006. p. 129-136.

A hybrid genetic algorithm for constrained hardware- software partitioning

P-A. Mudry; G. Zufferey; G. Tempesti 

2006. DDECS’06, Prague, April 18-21. p. 3-8.

MOVE Processors That Self-replicate and Differentiate

J. Rossier; Y. Thoma; P-A. Mudry; G. Tempesti 

2006. The Second International Workshop on Biologically Inspired Approaches to Advanced Information Technology (BioADIT06), Senri Life Science Center, Osaka, Japan, January 26-27, 2006. p. 160-175. DOI : 10.1007/11613022_15.

2005

Robust robot bouncing: passive compliance and flexible phase locking

A. Sproewitz; L. Berthouze 

2005. 3rd. Int. Symp. on Adaptive Motion in Animals and Machines (AMAM 2005), Ilmenau, Germany, 2005.

Aggregation Behaviour as a Source of Collective Decision in a Group of Cockroach-Like Robots

S. Garnier; C. Jost; R. Jeanson; J. Gautrais; M. Asadpour et al. 

2005. 8th European Conference, ECAL 2005, Canterbury, UK, September 5-9, 2005. p. 169-178. DOI : 10.1007/11553090_18.

Perception and Behavior of InsBot : Robot-Animal Interaction Issues

F. Tâche; M. Asadpour; G. Caprari; W. Karlen; R. Siegwart 

2005. IEEE Conf. on Robotics and Biomimetics [ROBIO], Hong Kong,

Collective Decision-Making by a Group of Cockroach-Like Robots

S. Garnier; C. Jost; R. Jeanson; J. Gautrais; M. Asadpour et al. 

2005. Proc. of the IEEE Swarm Intelligence Symposium, Pasadena, CA,

Cooperative Learning for Very Long Learning Tasks: A Society Inspired Approach to Persistence of Knowledge

I. Riachi; M. Asadpour; R. Siegwart 

2005. European Conf. on Machine Learning, Cooperative Multi-Agent Learning workshop [ECML], Porto, Portugal,

Robot-animal interaction: Perception and behavior of insbot

M. Asadpour; F. Tache; G. Caprari; W. Karlen; R. Siegwart 

2005. Conceptual Modeling and Simulation Conference, Marseille,France, October 20-22, 2005.

Co-evolution of Structures and Controllers for Neubot Underwater Modular Robots

B. von Haller; A. Ijspeert; D. Floreano 

2005. 8th European Conference on Artificial Life (ECAL’2005), Canterbury, Kent (UK), 5-9 September. p. 189-199. DOI : 10.1007/11553090_20.

A Move processor for bio-inspired systems

G. Tempesti; P-A. Mudry; R. Hoffmann 

2005. NASA/DoD Conference on Evolvable Hardware (EH2005), Washington, June 2005. p. 262-271.

An FPGA Dynamically Reconfigurable Framework for Modular Robotics

A. Upegui; R. Moeckel; E. Dittrich; A. Ijspeert; E. Sanchez 

2005. 

Swimming and Crawling with an Amphibious Snake Robot

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert 

2005.  p. 3035-3039.

Fractional model of a gastrocnemius muscle for tetanus pattern

L. Sommacal; P. Melchior; J. Cabelguen; A. Oustaloup; A. Ijspeert 

2005. 

A dynamical systems approach to learning: a frequency-adaptive hopper robot

J. Buchli; L. Righetti; A. Ijspeert 

2005. 8th European Conference, ECAL 2005, Canterbury, UK, September 5-9, 2005. p. 210-220. DOI : 10.1007/11553090_22.

YaMoR and Bluemove — an autonomous modular robot with Bluetooth interface for exploring adaptive locomotion

R. Moeckel; C. Jaquier; K. Drapel; A. Upegui; A. Ijspeert 

2005.  p. 685-692.

Online Optimization of Modular Robot Locomotion

D. Marbach; A. Ijspeert 

2005.  p. 248-253.

Nonlinear Modelling of double and triple period pitch breaks in vocal fold vibration

F. Menzer; J. Buchli; D. Howard; A. Ijspeert 

2005. 

Adaptive Dynamical Systems for Movement Control

J. Buchli; L. Righetti; A. Ijspeert 

2005.  p. 7.

From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators

L. Righetti; J. Buchli; A. Ijspeert 

2005.  p. 45.

From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators

L. Righetti; J. Buchli; A. Ijspeert 

2005. 

AMAM 2005 — Research on Adaptive Motion in Animals and Machines

A. Ijspeert; H. Kimura; H. Witte 

2005. 

2004

Simple and low-cost compliant leg-foot system

F. Meyer; A. Spröwitz; M. Lungarella; L. Berthouze 

2004. Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, Sendai, Japan, 2004. p. 515-520. DOI : 10.1109/IROS.2004.1389404.

The embodiment of cockroach behaviour in a micro-robot

C. Jost; S. Garnier; R. Jeanson; M. Asadpour; J. Gautrais et al. 

2004. 35th International Symposium on Robotics (ISR), Paris, France, March 23-26, 2004.

Tom Thumb Algorithm and von Neumann Universal Constructor

J. Rossier; E. Petraglio; A. Stauffer; G. Tempesti 

2004. The Sixth International conference on Cellular Automata for Research and Industry (ACRI 2004), University of Amsterdam, Science Park Amsterdam, The Netherlands, October 25 – 27, 2004. p. 1-10. DOI : 10.1007/978-3-540-30479-1_1.

Operating system support for interface virtualisation of reconfigurable coprocessors

M. Vuletic; L. Righetti; L. Pozzi; P. Ienne 

2004. 

Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis

J. Buchli; A. Ijspeert 

2004.  p. 333-349. DOI : 10.1007/978-3-540-27835-1_25.

An amphibious robot capable of snake and lamprey-like locomotion

A. Crespi; A. Badertscher; A. Guignard; A. Ijspeert 

2004. 

Co-evolution of Configuration and Control for Homogenous Modular Robots

D. Marbach; A. Ijspeert 

2004.  p. 712-719.

Operating system support for interface virtualisation of reconfigurable coprocessors

M. Vuletić; L. Righetti; L. Pozzi; P. Ienne 

2004.  p. 748-749.

A simple, adaptive locomotion toy-system

J. Buchli; A. Ijspeert 

2004.  p. 153-162.

Phase and frequency locking in detailed neuron models

R. Stoop; J. Buchli; M. Christen 

2004.  p. 43-46.

2003

Compact Q-Learning for Micro-robots

M. Asadpour; R. Siegwart 

2003. 1st European Conference on Mobile Robots (ECMR 2003), Radziejowice, Poland, September 4-6, 2003.

Learning Movement Primitives

S. Schaal; J. Peters; J. Nakanishi; A. Ijspeert 

2003. 

Evolution of Fault-tolerant Self-replicating Structures

L. Righetti; S. Shokur; M. Capcarre 

2003. 

2002

Evolution of efficient swimming controllers for a simulated lamprey

H. Or; J. Hallam; D. Willshaw; A. Ijspeert 

2002. 

Movement imitation with nonlinear dynamical systems in humanoid robots

A. Ijspeert; J. Nakanishi; S. Schaal 

2002.  p. 1398-1403.

Learning Rhythmic Movements by Demonstration using Nonlinear Oscillators

A. Ijspeert; J. Nakanishi; S. Schaal 

2002.  p. 958-963.

Learning Attractor Landscapes for Learning Motor Primitives

A. Ijspeert; J. Nakanishi; S. Schaal 

2002.  p. 1547-1554.

2001

Trajectory formation for imitation with nonlinear dynamical systems

A. Ijspeert; J. Nakanishi; S. Schaal 

2001. 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium, Maui, HI, USA, 29 Oct.-3 Nov. 2001. p. 752-757. DOI : 10.1109/IROS.2001.976259.

Nonlinear dynamical systems for imitation with humanoid robots

A. Ijspeert; J. Nakanishi; T. Shibata; S. Schaal 

2001.  p. 219-226.

Real-time statistical learning for robotics and human augmentation

S. Schaal; S. Vijayakumar; S. D’Souza; A. Ijspeert; J. Nakanishi 

2001.  p. 117-124.

2000

Expertness Measuring in Cooperative Learning

M. N. Ahmadabadi; M. Asadpour; S. H. Khodaabakhsh; E. Nakano 

2000.  p. 2261-2267.

Biologically inspired neural controllers for motor control in a quadruped robot

A. Billard; A. Ijspeert 

2000. International Joint Conference on Neural Networks, Come (Italy), 27 July, 2000. p. 637-641. DOI : 10.1109/IJCNN.2000.859467.

A leaky-integrator neural network for controlling the locomotion of a simulated salamander

A. Ijspeert 

2000.  p. 642-648.

A 3-D biomechanical model of the salamander

A. Ijspeert 

2000. Second International Conference, VW 2000, Paris, France, July 5–7, 2000. p. 225-234.

A neuromechanical investigation of salamander locomotion

A. Ijspeert 

2000. 

1999

Adaptive exploration of a dynamic environment by a group of communicating robots

A. Billard; A. Ijspeert; A. Martinoli 

1999. 5th European Conference, ECAL’99, Lausanne, Switzerland, September 13–17, 1999. p. 596-605. DOI : 10.1007/3-540-48304-7_79.

Synthetic approaches to neurobiology: review and case study in the control of anguiliform locomotion

A. Ijspeert 

1999. 5th European Conference, ECAL’99, Lausanne, Switzerland, September 13–17, 1999. p. 195-204. DOI : 10.1007/3-540-48304-7_26.

1998

Evolutionary robotics – a children’s game

H. Lund; O. Miglino; L. Pagliarini; A. Billard; A. Ijspeert 

1998. IEEE International Conference on Evolutionary Computation. p. 154-158.

Evolution of a central pattern generator for the swimming and trotting gaits of the salamander

A. Ijspeert; J. Hallam; D. Willshaw 

1998. 

Reviews

2021

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

R. Baud; A. R. Manzoori; A. Ijspeert; M. Bouri 

Journal Of Neuroengineering And Rehabilitation. 2021-07-27. Vol. 18, num. 1, p. 119. DOI : 10.1186/s12984-021-00906-3.

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

H. Prasanth; M. Caban; U. Keller; G. Courtine; A. Ijspeert et al. 

Sensors. 2021-04-13. Vol. 21, num. 8, p. 2727. DOI : 10.3390/s21082727.

2020

Walking with Salamanders: From Molecules to Biorobotics

D. Ryczko; A. Simon; A. J. Ijspeert 

Trends In Neurosciences. 2020-11-01. Vol. 43, num. 11, p. 916-930. DOI : 10.1016/j.tins.2020.08.006.

A Review on Finite Element Modeling and Simulation of the Anterior Cruciate Ligament Reconstruction

L. Benos; D. Stanev; L. Spyrou; K. Moustakas; D. E. Tsaopoulos 

Frontiers In Bioengineering And Biotechnology. 2020-08-20. Vol. 8, p. 967. DOI : 10.3389/fbioe.2020.00967.

2017

The Human Central Pattern Generator for Locomotion: Does It Exist and Contribute to Walking?

K. Minassian; U. S. Hofstoetter; F. Dzeladini; P. A. Guertin; A. Ijspeert 

Neuroscientist. 2017. Vol. 23, num. 6, p. 649-663. DOI : 10.1177/1073858417699790.

Environmental Monitoring using Autonomous Vehicles: A Survey of Recent Searching Techniques

B. Bayat; N. Crasta; A. Crespi; A. M. Pascoal; A. Ijspeert 

Current Opinion in Biotechnology. 2017. Vol. 45, p. 76-84. DOI : 10.1016/j.copbio.2017.01.009.

2014

Robotics and Neuroscience

D. Floreano; A. Ijspeert; S. Schaal 

Current Biology. 2014. Vol. 24, p. R910-R920. DOI : 10.1016/j.cub.2014.07.058.

2013

Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics

A. Bicanski; D. Ryczko; J. Knuesel; N. Harischandra; V. Charrier et al. 

Biological Cybernetics. 2013. Vol. 107, num. 5, p. 545-564. DOI : 10.1007/s00422-012-0543-1.

Theses

2020

Towards the alignment of educational robotics learning systems with classroom activities

C. Giang / F. Mondada; A. Piatti (Dir.)  

Lausanne, EPFL, 2020. 

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

R. P. F. Baud / A. Ijspeert; M. Bouri (Dir.)  

Lausanne, EPFL, 2020. 

2019

Perception, control and planning for (self-)reconfigurable modular robots

M. H. Mutlu / A. Ijspeert; A. Bernardino (Dir.)  

Lausanne, EPFL, 2019. 

Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control

J. Lanini / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2019. 

Compliance, locomotion and local computation in (self-) reconfigurable modular robots

S. L. Hauser / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2019. 

From bio-inspired locomotion models To controllers for lower-limb exoskeletons

F. Dzeladini / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2019. 

2018

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

P. Eckert / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2018. 

Towards Robust Bipedal Locomotion

S. Faraji / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2018. 

Control of Bio-Inspired Sprawling Posture Quadruped Robots with an Actuated Spine

T. Horvat / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2018. 

2017

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

N. B. D. Van der Noot / A. Ijspeert; R. Ronsse (Dir.)  

Lausanne, EPFL, 2017. 

Investigating Sensorimotor Control in Locomotion using Robots and Mathematical Models

R. Thandiackal / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2017. 

2016

Hardware, software and control design considerations towards low-cost compliant quadruped robots

A. Tuleu / A. Ijspeert; A. Bernardino (Dir.)  

Lausanne, EPFL, 2016. 

2015

Challenges in the Locomotion of Self-Reconfigurable Modular Robots

M. Vespignani / A. Ijspeert; R. Pfeifer (Dir.)  

Lausanne, EPFL, 2015. 

Pattern Generation for Rough Terrain Locomotion with Quadrupedal Robots

M. Ajallooeian / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2015. 

2014

Control and interaction strategies for self-reconfigurable modular robots

S. Bonardi / A. Ijspeert; P. Dillenbourg (Dir.)  

Lausanne, EPFL, 2014. 

Visual Control of Legged Robots for Locomotion in Complex Environments using Central Pattern Generators

S. Gay / A. Ijspeert; J. Santos-Victor (Dir.)  

Lausanne, EPFL, 2014. 

2013

Modeling spinal central pattern generators in the salamander at different levels of abstraction

A. Bičanski / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013. 

Modeling a diversity of salamander motor behaviors with coupled abstract oscillators and a robot

J. Knüsel / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013. 

Legged locomotion with spinal undulations

K. Karakasiliotis / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2013. 

2010

Discrete and Rhythmic Motor Primitives for the Control of Humanoid Robots

S. Dégallier Rochat / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2010. 

Roombots: Design and Implementation of a Modular Robot for Reconfiguration and Locomotion

A. Spröwitz / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2010. 

2009

A hardware-software codesign framework for cellular computing

P-A. Mudry / A. J. Ijspeert; G. Tempesti (Dir.)  

Lausanne, EPFL, 2009. 

2008

Control of legged locomotion using dynamical systems

L. Righetti / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2008. 

Self-replication of complex digital circuits in programmable logic devices

J. Rossier / A. J. Ijspeert; G. Tempesti (Dir.)  

Lausanne, EPFL, 2008. 

2007

Engineering limit cycle systems

J. Buchli / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2007. 

Design and control of amphibious robots with multiple degrees of freedom

A. Crespi / A. J. Ijspeert (Dir.)  

Lausanne, EPFL, 2007. 

1998

Design of artificial neural oscillatory circuits for the control of lamprey- and salamander-like locomotion using evolutionary algorithms

A. J. Ijspeert / A. J. Ijspeert (Dir.)  

University of Edinburgh, 1998. 

Book Chapters

2010

18. Decoding the Mechanisms of Gait Generation and Gait Transition in the Salamander Using Robots and Mathematical Models

J. Knuesel; J-M. Cabelguen; A. Ijspeert 

Motor Control: Theories, Experiments, and Applications; Oxford University Press, 2010. p. 417-451.

Axial dynamics during locomotion in vertebrates: lesson from the salamander

J-M. Cabelguen; A. Ijspeert; S. Lamarque; D. Ryczko 

Progress in Brain Research; Great Britain: Elsevier, 2010. p. 149-162.

2009

Salamandra robotica: A Biologically Inspired Amphibious Robot that Swims and Walks

A. Crespi; A. J. Ijspeert 

Artificial Life Models in Hardware; Springer, 2009. p. 35-64.

2005

Complexity Engineering: Harnessing Emergent Phenomena as Opportunities for Engineering

J. Buchli; C. Santini 

Reports of the Santa Fe Institute’s Complex Systems Summer School 2005; Santa Fe Institute, 2005.

2003

Using Evolutionary Methods to Parameterize Neural Models: a Study of the Lamprey Central Pattern Generator

J. Hallam; A. Ijspeert 

Biologically inspired robot behavior engineering; Springer Verlag, Berlin, 2003. p. 119-142.

Vertebrate locomotion

A. Ijspeert 

The handbook of brain theory and neural networks; MIT Press, 2003. p. 649-654.

2000

Locomotion and visually-guided behavior in salamander: a neuromechanical study

A. Ijspeert; M. Arbib 

Proceedings of Sensor Fusion and Decentralized Control in Ro botics Systems III, (SFCRSIII); SPIE, 2000.

Visual tracking in simulated salamander locomotion

A. Ijspeert; M. Arbib 

Proceedings of the Sixth International Conference of The Society for Adaptive Behavior (SAB2000); MIT Press, 2000. p. 88-97.

1999

Evolution of neural controllers for salamander-like locomotion

A. Ijspeert 

Proceedings of Sensor Fusion and Decentralised Control in Robotics Systems II; SPIE Proceeding Vol. 3839, 1999. p. 168-179.

1998

From lampreys to salamanders: evolving neural controllers for swimming and walking

A. Ijspeert; J. Hallam; D. Willshaw 

From Animals to Animats, Proceedings of the Fifth International Conference of The Society for Adaptive Behavior (SAB98); MIT Press, 1998. p. 390-399.

1997

Artificial Lampreys: Comparing Naturally and Artificially Evolved Swimming Controllers

A. Ijspeert; J. Hallam; D. Willshaw 

Proceedings of the Fourth European Conference on Artificial Life, ECAL97; MIT Press, 1997. p. 256-265.

1995

Banc de mesure pour l’application et la visualisation de contraintes sur des cellules endotheliales

A. Ijspeert; Y. Tardy; J. Meister 

Annals of Biomedical Engineering; 1995. p. 101.

A new combined flow stretch chamber for direct visualization of endothelial cells deformation in the microscope

Y. Tardy; A. Ijspeert; J. Meister 

Annals of Biomedical Engineering; 1995. p. 35.

1994

Determination of the nonhomogeneity of the arterial-wall using mechanical tests

A. Delfino; A. Rachev; J. Moore; A. Ijspeert; S. Greenwald et al. 

Archives internationales de physiologie, de biochimie et de biophysique; 1994. p. 5.

Conference Proceedings

2006

Biologically Inspired Approaches to Advanced Information Technology

A. J. Ijspeert; T. Masuzawa; S. Kusumoto 

2006. Second International Workshop, BioADIT 2006.

Dynamical principles for neuroscience and intelligent biomimetic devices

A. Ijspeert; J. Buchli; A. Selverston; M. Rabinovich; M. Hasler et al. 

2006. EPFL LATSIS Symposium 2006.

2004

Biologically Inspired Approaches to Advanced Information Technology

A. Ijspeert; M. Murata; N. Wakamiya 

2004. First International Workshop, BioADIT 2004.

Proceedings of the Eighth International Conference on the Simulation of Adaptive Behavior, From Animals to Animats 8 (SAB 2004)

S. Schaal; A. Ijspeert; A. Billard; S. Vijayakumar; J. Hallam et al. 

2004. 

Reports

2002

Biology-Based Neural Network Control of the Robotic Orthosis Lokomat

D. Liechti; J. Buchli 

2002

Posters

2017

Effects of joint compliance in quadrupedal locomotion

M. Mutlu; S. Hauser; A. Bernardino; A. Ijspeert 

The 8th International Symposium on Adaptive Motion of Animals and Machines (AMAM2017), Sapporo, Japan, June 27-30 2017.

A singularity-tolerant inverse kinematics including joint position and velocity limitations

S. Faraji; A. Ijspeert 

Dynamic Walking, Mariehamn, Finland, June 4-9, 2017.

2016

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

S. Faraji; A. Ijspeert 

Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.

Time-Projection control on 3LP, a simple idea to deal with intermittent pushes online

S. Faraji; A. Ijspeert 

Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.

3LP: A linear model of locomotion including falling, swing and torso dynamics

S. Faraji; A. Ijspeert 

Dynamic Walking, Holly, Michigan, USA, June 4-7, 2016.

2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

K. Weinmeister; P. Eckert; H. Witte; A. Ijspeert 

AMAM 2015, Camebridge, Massachusetts, USA, June 21 – 25, 2015.

2014

Rich Locomotion Skills with the Oncilla Robot

M. Ajallooeian; A. Tuleu; A. Sprowitz; P. Eckert; M. Vespignani et al. 

Dynamic Walking 2014, Zurich, Switzerland, June 10-13, 2014.

Robust 3D Walking Using Inverse Dynamics And Footstep Planning With Model Predictive Control

S. Faraji; S. Pouya; A. Ijspeert 

9th Dynamic Walking Conference (DWC 2014), ETH Zurich, Switzerland, June 10-13, 2014.

2013

Motor Control Adaptation to Changes in Robot Body Dynamics for a Complaint Quadruped Robot

S. Pouya; P. Eckert; A. Sproewitz; R. Möckel; A. Ijspeert 

The 2nd International Conference on Biomimetic and Biohybrid Systems (Living Machines 2013), London, UK, July 2013.

Towards Modular Control for Moderately Fast Locomotion over Unperceived Rough Terrain

M. Ajallooeian; S. Pouya; S. Gay; A. Tuleu; A. Sprowitz et al. 

Dynamic Walking 2013, Carnegie Mellon University, Pittsburgh, USA, JUNE 10-13, 2013.

Dynamics Modeling and Control Architecture for Efficient, Manoeuvrable and Robust Monoped Hopping over Rough Terrain

S. Pouya; S. Faraji; R. Möckel; A. Ijspeert 

8th Dynamic Walking Conference (DWC 2013), Pittsburgh, USA, June 2013.

Data-driven extraction of drive functions for legged locomotion: A study on Cheetah-cub robot

M. Ajallooeian; A. Sproewitz; A. Tuleu; A. Ijspeert 

6th International Conference on Adaptive Motion of Animals and Machines, 2013, Darmstadt, Germany, March 11-14, 2013.

2012

Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots

S. Pouya; M. Khodabakhsh; R. Möckel; A. Ijspeert 

7th Dynamic Walking Conference, Florida, USA, May 2012.

2011

Anchoring the SLIP template: The effect of leg mass on running stability

F. Peuker; S. Grimmer; S. Pouya; R. Möckel; A. Ijspeert et al. 

The 5th International Symposium on Adaptive Motion of Animals and Machines (AMAM), Hyogo, Japan, 2011.

Trot Gait Locomotion of A Cat Sized Quadruped Robot

A. Tuleu; M. Ajallooeian; A. Spröwitz; P. Loepelmann; A. Ijspeert 

International Workshop on Bio-inspired Robots, Nantes, France, April 6-8.

Talks

2017

Dynamic Walking presents: The DRAPA-Challenge

P. Eckert; A. Wu; M. A. Robertson; C. DW 

Dynamic Walking.

Towards measuring agility for legged, terrestrial locomotion

P. Eckert; A. Ijspeert 

Dynamic Walking 2017.

A low-cost, actuated passive dynamic walker kit for accessible research and education

M. A. Robertson; J. Paik; A. Ijspeert; A. Wu 

Dynamic Walking Conference, Mariehamn, Finland, June 4-9, 2017.

2016

Adaptive foot design for small quadruped robots

P. Eckert; A. Ijspeert 

Dynamic Walking 2016, Holly, Michigan, USA, June 4-7, 2016.

2015

Kontrolle von Fortbewegung in Tierreich und Technik

A. I. Peter Eckert 

Bionik – Die Natur als Inspiration für die Technik, Wien, Autria, 1. April – 22. Juni 2015.

2014

Comparing the effect of different spine and leg designs for a small, bounding quadruped robot

P. Eckert; A. Spröwitz; H. Witte; A. Ijspeert 

Dynamic walking 2014, Zürich, June 10, 2014 – June 13, 2014.

Patents

2020

Propulsion module for generating wave-like motion

P. Eckert; B. Bayat; A. Ijspeert 

WO2020152502.

2020.

Student Projects

2013

A Model-Based Control Approach for Locomotion of Biped Robots

S. Faraji 

2013.

Implementation of a Human Feedback-based Locomotion and its Control by means of a Feedforward Component inspired by Central Pattern Generators

F. Dzeladini 

2013.

2003

Locking Behavior in Extended Nerve Cell Models

J. Buchli 

2003.