Publications de Jonathan Patrick Arreguit O'Neill

Neuromechanical Simulations of Animats with Decentralised Control

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

EPFL2023

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Wei Wang, Emmanouil Angelidis

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

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

A spiking central pattern generator for the control of a simulated lamprey robot running on SpiNNaker and Loihi neuromorphic boards

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Axel von Arnim, Emmanouil Angelidis

Central pattern generator (CPG) models have long been used to investigate both the neural mechanisms that underlie animal locomotion, as well as for robotic research. In this work we propose a spiking central pattern generator (SCPG) neural network and its ...

Bristol2021

Fast multi-contact whole-body motion planning with limb dynamics

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Salman Faraji

We present a new method for multi-contact motion planning which efficiently encodes internal dynamics of the robot without needing to use full models. Our approach is based on a five-mass model which is formulated by Cartesian points instead of joint angle ...

IEEE2018

Undulatory Swimming Locomotion Driven by CPG with Multimodal Local Sensory Feedback

Auke Ijspeert, Kamilo Andres Melo Becerra, Jonathan Patrick Arreguit O'Neill, Laura Isabel Paez Coy, Kyoichi Akiyama

Many species such as eels, lampreys and leeches generate undulatory swimming locomotion adaptively. It is said that this coordinated locomotive patterns are produced by central pattern generators (CPGs) which generate rhythmic activities without any rhythm ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

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