Concept

Paranthrope

Publications associées (5)

A computational modeling approach to study the neuromechanics of terrestrial locomotion

The main theme of my thesis will be to use neuro-muscular modeling techniques to study locomotion of terrestrial mammals. Locomotion is the ability of animals to interact with the environment to propel themselves in space. It involves co-ordination and pre ...

EPFL2022

CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion

Auke Ijspeert, Guillaume Denis Antoine Bellegarda

In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to produce robust and omnidirectional quadruped locomotion. The agent learns to ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Nicolas Benoît Dominique Van der Noot

Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...

EPFL2017

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

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, Luca Colasanto, Allan Barrea

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

IEEE2015

Robust Walking Using Peicewise Linear Spring

Auke Ijspeert, Mahdi Khoramshahi

Having a direct impact on the energy efficiency has made the compliance a favorable element in the robotic systems. Moreover, legged system can benefit from compliance for stability, speed, adaptability and robustness. Recently, we have studied the effects ...

2014

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