Publication

A unified framework for walking and running of bipedal robots

Publications associées (34)

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

Gait-dependent Traversability Estimation on the k-rock2 Robot

Auke Ijspeert, Matthew Alfonso Estrada, Mohammadreza Ebrahimi

Assessing the traversability of rugged terrain is a difficult challenge for legged robots, especially when they implement multiple, distinct gaits. We tackle this problem on the k-rock2 amphibious, sprawling gait robot by training a gait-dependent traversa ...

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Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor

Milad Shafiee Ashtiani

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ...

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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 ...

FRONTIERS MEDIA SA2021

Motivating Innovation: The Effect of Loss Aversion on the Willingness to Persist

Kenneth Younge

We investigate the willingness of individuals to persist at exploration in the face of failure. Prior research suggests that the organization's "tolerance for failure" may motivate greater exploration by the individual. Little is known, however, about how ...

MIT Press2020

Simulation of human gait with body weight support: benchmarking models and unloading strategies

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Background Gait training with partial body weight support (BWS) has become an established rehabilitation technique. Besides passive unloading mechanisms such as springs or counterweights, also active systems that allow rendering constant or modulated verti ...

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Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

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Powered exoskeletons are among the emerging technologies claiming to assist functional ambulation. The potential to adapt robotic assistance based on specific motor abilities of incomplete spinal cord injury (iSCI) subjects, is crucial to optimize Human-Ro ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

From standing balance to walking: A single control structure for a continuum of gaits

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...

2019

Decentralized control with cross-coupled sensory feedback between body and limbs in sprawling locomotion

Auke Ijspeert, Shura Suzuki

Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...

IOP PUBLISHING LTD2019

Towards Robust Bipedal Locomotion

Salman Faraji

Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...

EPFL2018

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