Publications by Renaud Ronsse | EPFL Graph Search

Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis

Mohamed Bouri, Bruno Dehez, Renaud Ronsse, François André Heremans

Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities. However, the added-value of s ...

IEEE2019

Neuromuscular model achieving speed control and steering with a 3D bipedal walker

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot

Nowadays, very few humanoid robots manage to travel in our daily environments. This is mainly due to their limited locomotion capabilities, far from the human ones. Recently, we developed a bio-inspired torque-based controller recruiting virtual muscles dr ...

SPRINGER2019

Bio-inspired controller achieving forward speed modulation with a 3D bipedal walker

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot

2018

Multi-physics modelling of a compliant humanoid robot

Renaud Ronsse, Nicolas Benoît Dominique Van der Noot

We present a multibody simulator being used for compliant humanoid robot modelling and report our reasoning for choosing the settings of the simulator's key features. First, we provide a study on how the numerical integration speed and accuracy depend on t ...

Springer2017

Bio-inspired balance controller for a humanoid robot

Auke Ijspeert, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, François André Heremans

Humanoid robots are gaining much interest nowadays. This is partly motivated by the ability of such robots to replace humans in dangerous environments being specifically designed for humans, such as man-made or natural disaster scenarios. However, existing ...

Ieee2016

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 Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Auke Ijspeert, Renaud Ronsse

Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state r ...

Ieee-Inst Electrical Electronics Engineers Inc2013

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

Bouncing between model and data: stability, passivity, and optimality in hybrid dynamics

Renaud Ronsse

Rhythmically bouncing a ball with a racket is a seemingly simple task, but it poses all the challenges critical for coordinative behavior: perceiving the ball’s trajectory to adapt position and velocity of the racket for the next ball contact. To gain insi ...

Heldref Publications2010

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