Publications by Jesse van den Kieboom

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse, Luca Colasanto, Nicolas Benoît Dominique Van der Noot, Allan Barrea

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

IEEE2015

Real-time full body motion imitation on the COMAN humanoid robot

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

Cambridge Univ Press2015

Rich periodic motor skills on humanoid robots: Riding the pedal racer

Auke Ijspeert, Jesse van den Kieboom, Massimo Vespignani, Luc Guyot

Just as their discrete counterparts, periodic or rhythmic dynamic motion primitives allow easily modulated and robust motion generation, but for periodic tasks. In this paper we present an approach for modulating periodic dynamic movement primitives based ...

IEEE2014

Automatic Generation of Reduced CPG Control Networks for Locomotion of Arbitrary Modular Robot Structures

Auke Ijspeert, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi, Massimo Vespignani

The design of efficient locomotion controllers for arbitrary structures of reconfigurable modular robots is challenging because the morphology of the structure can change dynamically during the completion of a task. In this paper, we propose a new method t ...

2014

The contribution of a central pattern generator in a reflex-based neuromuscular model

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

Although the concept of central pattern generators (CPGs) controlling locomotion in vertebrates is widely accepted, the presence of specialized CPGs in human locomotion is still a matter of debate. An interesting numerical model developed in the 90s' demon ...

Frontiers Research Foundation2014

On the dynamics of human locomotion and co-design of lower limb assistive devices

Jesse van den Kieboom

Recent developments in lower extremities wearable robotic devices for the assistance and rehabilitation of humans suffering from an impairment have led to several successes in the assistance of people who as a result regained a certain form of locomotive c ...

EPFL2014

Meta Morphic Particle Swarm Optimization

Auke Ijspeert, Soha Pouya, Jesse van den Kieboom

Particle Swarm Optimization is a simple and elegant optimization algorithm used to solve a large variety of different real-valued problems. When it comes to solving combinations of continuous and discrete problems however, PSO by itself is not very well su ...

Springer2013

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

Auke Ijspeert, Jesse van den Kieboom, Mostafa Ajallooeian

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, ...

Elsevier Science Bv2013

Exploiting Natural Dynamics in Biped Locomotion using Variable Impedance Control

Auke Ijspeert, Jesse van den Kieboom

Biped locomotion has been extensively studied using various approaches, including Passive Dynamic Walking, ZMP-based control and biologically inspired muscle models. In biped locomotion robotics, there has been an increasing interest in variable impedance ...

2013

Stable real-time full body motion imitation on the COMAN humanoid robot

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

2013

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

Auke Ijspeert, Sébastien Gay, Jesse van den Kieboom, José Santos-Victor

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...

2013

Co-evolution of Morphology and Control of Virtual Legged Robots for the Steering Task

Auke Ijspeert, Ken Larpin, Soha Pouya, Jesse van den Kieboom

Co-evolution of morphology and control is a powerful approach in robotics to study performance on a particular task, considering mechanical structure and control as a whole to accomplish a certain goal. Co-evolutionary methods have been used to study the e ...

2011

Human-Robot Synchrony: Flexible Assistance Using Adaptive Oscillators

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

We propose a novel method for movement assistance that is based on adaptive oscillators, i. e., mathematical tools that are capable of extracting the high-level features (amplitude, frequency, and offset) of a periodic signal. Such an oscillator acts like ...

2011

Oscillator-based assistance of cyclical movements: model-based and model-free approaches

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assist ...

Springer-Verlag2011

Automatic Gait Generation in Modular Robots: to Oscillate or to Rotate? that is the question

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom

Modular robots offer the possibility to design robots with a high diversity of shapes and functionalities. This nice feature also brings an important challenge: namely how to design efficient locomotion gaits for arbitrary robot structures with many degree ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2010

Adaptive Oscillators with Human-in-the-Loop: Proof of Concept for Assistance and Rehabilitation

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

Most recent findings in robot-assisted therapy suggest that the therapy is more successful if the patient actively participates to the movement (“assistance-as-needed”). In the present contribution, we propose a novel approach for designing highly flexible ...

IEEE2010

Roombots: Reconfigurable Robots for Adaptive Furniture

Aude Billard, Auke Ijspeert, Pierre Dillenbourg, Rico Möckel, Alexander Spröwitz, Soha Pouya, Jesse van den Kieboom, Stéphane Bonardi

Imagine a world in which our furniture moves around like legged robots, interacts with us, and changes shape and function during the day according to our needs. This is the long term vision we have in the Roombots project. To work towards this dream, we ar ...

2010