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Jonas Buchli

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Publications associées (21)

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Learning of Closed-Loop Motion Control

Jonas Buchli, Farbod Farshidian

Learning motion control as a unified process of designing the reference trajectory and the controller is one of the most challenging problems in robotics. The complexity of the problem prevents most of the existing optimization algorithms from giving satis ...

2014

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

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

Self-organized adaptive legged locomotion in a compliant quadruped robot

Auke Ijspeert, Jonas Buchli

In this contribution we present experiments of an adaptive locomotion controller on a compliant quadruped robot. The adaptive controller consists of adaptive frequency oscillators in different configurations and produces dynamic gaits such as bounding and ...

2008

Engineering limit cycle systems

Jonas Buchli

In this thesis, we present a dynamical systems approach to adaptive controllers for locomotion control. The approach is based on a rigorous mathematical framework using nonlinear dynamical systems and is inspired by theories of self-organization. Nonlinear ...

EPFL2007

Resonant neurons and bushcricket behaviour

Auke Ijspeert, Jonas Buchli

The resonant properties of the intrinsic dynamics of single neurons could play a direct role in behaviour. One plausible role is in the recognition of temporal patterns, such as that seen in the auditory communication systems of Orthoptera. Recent behaviou ...

2007

Dynamic hebbian learning in adaptive frequency oscillators

Auke Ijspeert, Jonas Buchli, Ludovic Righetti

Nonlinear oscillators are widely used in biology, physics and engineering for modeling and control. They are interesting because of their synchronization properties when coupled to other dynamical systems. In this paper, we propose a learning rule for osci ...

2006

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

Auke Ijspeert, Jonas Buchli, Fritz Menzer

This paper reports a study on short-time subharmonic pitch breaks in vocal fold vibration, which are found to be a common feature of the human voice in spoken language. The observed pitch breaks correspond to a change in periodicity of the electrolaryngogr ...

2006

Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis

Auke Ijspeert, Jonas Buchli

A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. R ...

Springer Verlag Berlin Heidelberg2004

A simple, adaptive locomotion toy-system

Auke Ijspeert, Jonas Buchli

In order to make the transfer of biological principles to engineering problems successful, it is important to study the fundamental properties of biological systems. The goal is to arrive with useful abstractions that are (1) implementable, (2) testable by ...

MIT Press2004