Publications by Ludovic Righetti

A unified framework for walking and running of bipedal robots

In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...

IEEE2021

Slow-fast Dynamics of Strongly Coupled Adaptive Frequency Oscillators

Auke Ijspeert, Jonas Buchli, Ludovic Righetti

Oscillators have two main limitations: their synchronization properties are limited (i.e., they have a finite synchronization region) and they have no memory of past interactions (i.e., they return to their intrinsic frequency whenever the entraining signa ...

SIAM PUBLICATIONS2021

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

Auke Ijspeert, Ludovic Righetti

Crawling on hands and knees is an early pattern of human infant locomotion, which offers an interesting way of studying quadrupedalism in one of its simplest form. We investigate how crawling human infants compare to other quadruped mammals, especially pri ...

Frontiers Media Sa2015

Probabilistic Depth Image Registration incorporating Nonvisual Information

Aude Billard, Ludovic Righetti

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the ...

Ieee2012

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

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat, Sébastien Gay

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Springer Verlag2011

Compliant Leg Design for a Quadruped Robot

Auke Ijspeert, Ludovic Righetti, Alexander Spröwitz, Simon Rutishauser, Konstantinos Karakasiliotis

2009

Adaptive Frequency Oscillators and Applications

Auke Ijspeert, Jonas Buchli, Ludovic Righetti

In this contribution we present a generic mechanism to transform an oscillator into an adaptive frequency oscillator, which can then dynamically adapt its parameters to learn the frequency of any periodic driving signal. Adaptation is done in a dynamic way ...

2009

Modelling the interplay of central pattern generation and sensory feedback in the neuromuscular control of running

Auke Ijspeert, Ludovic Righetti

2009

Experimental study of limit cycle and chaotic controllers for the locomotion of centipede robots

Auke Ijspeert, Ludovic Righetti

In this contribution we present a CPG (central pattern generator) controller based on coupled Rössler systems. It is able to generate both limit cycle and chaotic behaviors through bifurcation. We develop an experimental test bench to measure quantitativel ...

2008

Frequency analysis with coupled nonlinear oscillators

Auke Ijspeert, Jonas Buchli, Ludovic Righetti

We present a method to obtain the frequency spectrum of a signal with a nonlinear dynamical system. The dynamical system is composed of a pool of adaptive frequency oscillators with negative mean-field coupling. For the frequency analysis, the synchronizat ...

2008