Robotic Elytra: Insect-Inspired Protective Wings for Resilient and Multi-Modal Drones

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Combining Reflexes and External Sensory Information in a Neuromusculoskeletal Model to Control a Quadruped Robot

This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Coupling-dependent convergence behavior of phase oscillators with tegotae-control

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Simon Lukas Hauser, Matthieu Guillaume Marie Dujany

A bio-inspired way to model locomotion is using a network of coupled phase oscillators to create a Central Pattern Generator (CPG). The recently developed feedback control method tegotae includes exteroceptive force feedback into the governing phase update ...

IEEE2021

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

Auke Ijspeert, Shura Suzuki

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control und ...

2021

A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction

Yufei Hao, Shantonu Biswas

A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger placement. Here, we pre ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Amphibious and Sprawling Locomotion: From Biology to Robotics and Back

Auke Ijspeert

A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...

2020

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

Auke Ijspeert, Azhar Aulia Saputra

Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...

IEEE2020

Walking with Salamanders: From Molecules to Biorobotics

Auke Ijspeert

How do four-legged animals adapt their locomotion to the environment? How do central and peripheral mechanisms interact within the spinal cord to produce adaptive locomotion and how is locomotion recovered when spinal circuits are perturbed? Salamanders ar ...

ELSEVIER SCIENCE LONDON2020

A Neural Primitive model with Sensorimotor Coordination for Dynamic Quadruped Locomotion with Malfunction Compensation

Auke Ijspeert, Azhar Aulia Saputra

In the field of quadruped locomotion, dynamic locomotion behavior, and rich integration with sensory feedback represents a significant development. In this paper, we present an efficient neural model, which includes CPG and its sensorimotor coordination, a ...

IEEE2020

Towards rich motion skills with the lightweight quadruped robot Serval

Auke Ijspeert, Peter Eckert, Tomislav Horvat, Anja Eva Maria Schmerbauch

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

SAGE PUBLICATIONS LTD2020

Learning How to Walk: Warm-starting Optimal Control Solver with Memory of Motion

Sylvain Calinon, Teguh Santoso Lembono

In this paper, we propose a framework to build a memory of motion for warm-starting an optimal control solver for the locomotion task of a humanoid robot. We use HPP Loco3D, a versatile locomotion planner, to generate offline a set of dynamically consisten ...

IEEE2020

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