Publications by Jérémie Knüsel

Reproducing Five Motor Behaviors in a Salamander Robot With Virtual Muscles and a Distributed CPG Controller Regulated by Drive Signals and Proprioceptive Feedback

Auke Ijspeert, Alessandro Crespi, Jérémie Knüsel

Diverse locomotor behaviors emerge from the interactions between the spinal central pattern generator (CPG), descending brain signals and sensory feedback. Salamander motor behaviors include swimming, struggling, forward underwater stepping, and forward an ...

2020

Decoding the mechanisms of gait generation in salamanders by combining neurobiology, modeling and robotics

Auke Ijspeert, Jérémie Knüsel, Andrej Bicanski

Vertebrate animals exhibit impressive locomotor skills. These locomotor skills are due to the complex interactions between the environment, the musculo-skeletal system and the central nervous system, in particular the spinal locomotor circuits. We are inte ...

Springer Berlin Heidelberg2013

Modeling a diversity of salamander motor behaviors with coupled abstract oscillators and a robot

Jérémie Knüsel

Salamanders are capable of a variety of locomotor behaviors including swimming, underwater stepping, and forward and backward land stepping. According to electromyographic and kinematic recordings of the trunk, each of these behaviors is characterized by a ...

EPFL2013

A Salamander’s Flexible Spinal Network for Locomotion, Modeled at Two Levels of Abstraction

Auke Ijspeert, Jérémie Knüsel, Andrej Bicanski

Animals have to coordinate a large number of muscles in different ways to efficiently move at various speeds and in different and complex environments. This coordination is in large part based on central pattern generators (CPGs). These neural networks are ...

Oxford University Press2013

Gait transitions between swimming and walking in salamander: lessons from numerical modeling and robotics

Auke Ijspeert, Alessandro Crespi, Jérémie Knüsel, Konstantinos Karakasiliotis

Oxford University Press2013

Effects of muscle dynamics and proprioceptive feedback on the kinematics and CPG activity of salamander stepping

Auke Ijspeert, Jérémie Knüsel

BioMed Central2011

Effects of stress and genotype on meta-parameter dynamics in reinforcement learning

Wulfram Gerstner, Jérémie Knüsel, Maria del Carmen Sandi Perez, Gediminas Luksys

Stress and genetic background regulate different aspects of behavioral learning through the action of stress hormones and neuromodulators. In reinforcement learning (RL) models, meta-parameters such as learning rate, future reward discount factor, and expl ...

2007