Ludovic Righetti

Cette personne n’est plus à l’EPFL

Publications associées (30)

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A Dynamical System for Online Learning of Periodic Movements of Unknown Waveform and Frequency

Auke Ijspeert, Ludovic Righetti

2008

Control of legged locomotion using dynamical systems : design methods and adaptive frequency oscillators

Ludovic Righetti

Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...

EPFL2008

A modular bio-inspired architecture for movement generation for the infant-like robot iCub

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting ...

2008

Quadruped locomotion: from infants crawling to the design of pattern generators for quadruped robots

Auke Ijspeert, Ludovic Righetti

2008

Passive compliant quadruped robot using central pattern generators for locomotion control

Auke Ijspeert, Ludovic Righetti, Simon Rutishauser, Alexander Spröwitz

We present a new quadruped robot, “Cheetah”, featuring three-segment pantographic legs with passive compliant knee joints. Each leg has two degrees of freedom - knee and hip joint can be actuated using proximal mounted RC servo motors, force transmission t ...

2008

Pattern generators with sensory feedback for the control of quadruped locomotion

Auke Ijspeert, Ludovic Righetti

Central Pattern Generators (CPGs) are becoming a popular model for the control of locomotion of legged robots. Biological CPGs are neural networks responsible for the generation of rhythmic movements, especially locomotion. In robotics, a systematic way of ...

2008

Lower Body Realization of the Baby Humanoid - iCub

Auke Ijspeert, Ludovic Righetti

2007

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

Auke Ijspeert, Ludovic Righetti

The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with ...

2007

Hand placement during quadruped locomotion in a humanoid robot: A dynamical system approach

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat

Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to senso ...

2007

Design methodologies for central pattern generators: towards 'intelligent' locomotion in robots

Auke Ijspeert, Ludovic Righetti

2006

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