Publications by Auke Ijspeert | EPFL Graph Search

Velocity Potential Field Modulation for Dense Coordination of Polytopic Swarms and Its Application to Assistive Robotic Furniture

Institute of Electrical and Electronics Engineers (IEEE)2025

Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, ...

IOP Publishing Ltd2025

Adaptive Negative Damping Control for User-Dependent Multi-Terrain Walking Assistance With a Hip Exoskeleton

Mohamed Bouri, Auke Ijspeert, Giulia Ramella

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion environments. In th ...

IEEE2025

A neuromechanics solution for adjustable robot compliance and accuracy

Auke Ijspeert, Grégoire Courtine

Robots have to adjust their motor behavior to changing environments and variable task requirements to successfully operate in the real world and physically interact with humans. Thus, robotics strives to enable a broad spectrum of adjustable motor behavior ...

AMER ASSOC ADVANCEMENT SCIENCE2025

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Auke Ijspeert, Alessandro Crespi, Jonathan Patrick Arreguit O'Neill

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Elsevier2025

Multisensory feedback makes swimming circuits robust against spinal transection and enables terrestrial crawling in elongate fish

Auke Ijspeert, Laura Isabel Paez Coy

Vertebrate locomotion is due to the interplay of neural oscillators and sensory feedback loops in the spinal cord that interact with the body and the environment. Here, we study these circuits with a focus on undulatory locomotion as produced by elongated ...

Proceedings of the National Academy of Sciences2025

Assessing Balance During Gait with a Lower Limb Exoskeleton

Mohamed Bouri, Auke Ijspeert

Maintaining balance is a critical aspect of human gait, especially for individuals with balance deficiencies. Accurate assessment and monitoring of balance are essential to reduce the risk of falls and improve mobility outcomes. Individuals with balance im ...

Springer Nature Switzerland2025

Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept

Auke Ijspeert, Léonie Asboth, Salif Axel Komi, Grégoire Courtine, Miroslav Caban, Nicolas Hankov, Fabien Bertrand Paul Wagner, Robin Jonathan Demesmaeker, Jocelyne Bloch, Henri Charles Alexandre Lorach, Edeny Baaklini, Jimmy James Ravier, Cathal John Harte

Rehabilitation robotics aims to promote activity-dependent reorganization of the nervous system. However, people with paralysis cannot generate sufficient activity during robot-assisted rehabilitation and, consequently, do not benefit from these therapies. ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Role and modulation of various spinal pathways for human upper limb control in different gravity conditions

Auke Ijspeert, Grégoire Courtine

Humans can perform movements in various physical environments and positions (corresponding to different experienced gravity), requiring the interaction of the musculoskeletal system, the neural system and the external environment. The neural system is itse ...

2025

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion

Mohamed Bouri, Auke Ijspeert, Ali Reza Manzoori

Despite their potential, exoskeletons have not reached widespread adoption in daily life, partly due to the challenge of seamlessly adapting assistance across various tasks and environments. Task-specific designs, reliance on complex sensing and extensive ...

Nature Research2025

Balancing central control and sensory feedback produces adaptable and robust locomotor patterns in a spiking, neuromechanical model of the salamander spinal cord

Auke Ijspeert, Jonathan Patrick Arreguit O'Neill, Andrea Ferrario

This study introduces a novel neuromechanical model employing a detailed spiking neural network to explore the role of axial proprioceptive sensory feedback, namely stretch feedback, in salamander locomotion. Unlike previous studies that often oversimplifi ...

2025

Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot

Auke Ijspeert, Laura Isabel Paez Coy

The relationship between morphology and locomotion performance in amphibious fish remains poorly understood, particularly in axial-appendage-based and appendage-based movements. To address this, we introduce Polymander, a reconfigurable robot capable of mi ...

IOP Publishing2025

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Typical legged locomotion controllers are designed or trained offline. This is in contrast to many animals, which are able to locomote at birth, and rapidly improve their locomotion skills with few real-world interactions. Such motor control is possible th ...

Institute of Electrical and Electronics Engineers Inc.2024

AI-CPG: Adaptive Imitated Central Pattern Generators for Bipedal Locomotion Learned Through Reinforced Reflex Neural Networks

Auke Ijspeert

Humans have many redundancies in their bodies and can make effective use of them to adapt to changes in the environment while walking. They can also vary their walking speed in a wide range. Human-like walking in simulation or by robots can be achieved thr ...

Ieee-Inst Electrical Electronics Engineers Inc2024

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

Mohamed Bouri, Auke Ijspeert, Milad Shafiee Ashtiani

Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimizat ...

Institute of Electrical and Electronics Engineers Inc.2024

Real-Time Locomotion Transitions Detection: Maximizing Performances with Minimal Resources

Mohamed Bouri, Auke Ijspeert

Assistive devices, such as exoskeletons and prostheses, have revolutionized the field of rehabilitation and mobility assistance. Efficiently detecting transitions between different activities, such as walking, stair ascending and descending, and sitting, i ...

Institute of Electrical and Electronics Engineers Inc.2024

Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional bioinspired control f ...

Institute of Electrical and Electronics Engineers Inc.2024

ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Learning a locomotion policy for quadruped robots has traditionally been constrained to a specific robot morphology, mass, and size. The learning process must usually be repeated for every new robot, where hyperparameters and reward function weights must b ...

Institute of Electrical and Electronics Engineers Inc.2024

Dynamic Object Catching with Quadruped Robot Front Legs

Auke Ijspeert, Guillaume Denis Antoine Bellegarda

This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to visually detect, tra ...

Institute of Electrical and Electronics Engineers Inc.2024

Learning Human-Robot Handshaking Preferences for Quadruped Robots

Auke Ijspeert, Guillaume Denis Antoine Bellegarda

Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to be adaptable to ...

IEEE Computer Society2024