Scientific Commons: A. J. Ijspeert

Online optimization of swimming and crawling in an amphibious snake robot (2008)

Abstract—An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the...

Organisation of the spinal central pattern generators for locomotion in the salamander: biology and modelling (2008)

Chevallier, S., Ijspeert, A.J., Ryczko, D., Nagy, F.

Among living tetrapods, salamanders are regarded as most closely resembling the first terrestrial vertebrates, and are therefore an interesting group in which the evolutionary changes in the...

Frequency Analysis with a Nonlinear Dynamical System (2008)

Buchli, J., Righetti, L., Ijspeert, A.J

Learning to move in modular robots using central pattern generators and online optimization (2008)

Sproewitz, A., Moeckel, R., Maye, J., Ijspeert, A.J.

This article addresses the problem of how modular robotics systems, i.e. systems composed of multiple modules that can be configured into different robotic structures, can learn to locomote. In...

The Dof-Box Project: An Educational Kit for Configurable Robots (2007)

Daidie, D., Barbey, O., Guignard, A., Roussy, D., Guenter, F., Ijspeert, A.J., ...

This paper describes the Dof-Box, a modular, reconfigurable robot, used in Hands-on practicals of robotics taught to miroengineering students. We present the hardware and software of the robots and...

Dynamics systems vs. optimal control a unifying view (2007)

Schaal, S., Mohajerian, P., Ijspeert, A.J.

In the past, computational motor control has been approached from at least two major frameworks: the dynamic systems approach and the viewpoint of optimal control. The dynamic system approach...

iCub - The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research (2007)

Tsakarakis, N.G., Metta, G., Sandini, G., Vernon, D., Beira, R., Becchi, F., ...

The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub...

Dynamical principles for neuroscience and intelligent biomimetic devices (2006)

Ijspeert, A.J., Buchli, J., Selverston, A., Rabinovich, M., Hasler, M., Gerstner, W., ...

AMAM 2005 -- Research on Adaptive Motion in Animals and Machines (2005)

Ijspeert, A.J., Kimura, H., Witte, H.

From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators (2005)

Righetti, L., Buchli, J., Ijspeert, A.J.

From Dynamic Hebbian Learning for Oscillators to Adaptive Central Pattern Generators (2005)

Righetti, L., Buchli, J., Ijspeert, A.J.

Adaptive Dynamical Systems for Movement Control (2005)

Buchli, J., Righetti, L., Ijspeert, A.J.

Simulation and Robotics Studies of Salamander Locomotion. Applying Neurobiological Principles to the Control of Locomotion in Robots (2005)

Ijspeert, A.J., Crespi, A., Cabelguen, J.M.

Nonlinear Modelling of double and triple period pitch breaks in vocal fold vibration (2005)

Menzer, F., Buchli, J., Howard, D.M., Ijspeert, A.J.

Institute Presentation: Biologically Inspired Robotics Group at EPFL (2005)

Ijspeert, A.J., Buchli, J., Crespi, A., Righetti, L., Bourquin, Y.

Online Optimization of Modular Robot Locomotion (2005)

Marbach, D., Ijspeert, A.J.

Co-evolution of structures and controllers for Neubot underwater modular robots (2005)

Von Haller, B., Ijspeert, A.J., Floreano, D.

A dynamical systems approach to learning: a frequency-adaptive hopper robot (2005)

Buchli, J., Righetti, L., Ijspeert, A.J.

Fractional model of a gastrocnemius muscle for tetanus pattern (2005)

Sommacal, L., Melchior, P., Cabelguen, J.M., Oustaloup, A., Ijspeert, A.J.

Swimming and Crawling with an Amphibious Snake Robot (2005)

Crespi, A., Badertscher, A., Guignard, A., Ijspeert, A.J.

AmphiBot I: An amphibious snake-like robot (2005)

Crespi, A., Badertscher, A., Guignard, A., Ijspeert, A.J.

Bio-ADIT 2004: On-Conference Proceedings (2004)

Ijspeert, A. J., Mange, D., Murata, M., Nishio, S.

A simple, adaptive locomotion toy-system (2004)

Buchli, J., Ijspeert, A.J., Schaal, S., Ijspeert, A.J., Billard, A., Vijayakumar, S., ...

In order to make the transfer of biological principles to engineering problems successful, it is important to study the fundamental properties of biological systems. The goal is to arrive with useful...

Co-evolution of Configuration and Control for Homogenous Modular Robots (2004)

Marbach, D., Ijspeert, A.J.

An amphibious robot capable of snake and lamprey-like locomotion (2004)

Crespi, A., Badertscher, A., Guignard, A., Ijspeert, A.J.

Distributed Central Pattern Generator Model for Robotics Application Based on Phase Sensitivity Analysis (2004)

Buchli, J., Ijspeert, A.J., Ijspeert, A.J., Murata, M., Wakamiya, N.

A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based...

Proceedings of the Eighth International Conference on the Simulation of Adaptive Behavior, From Animals to Animats 8 (SAB 2004) (2004)

Schaal, S., Ijspeert, A.J., Billard, A., Vijayakumar, S., Hallam, J., Meyer, J.A.

Biologically Inspired Approaches to Advanced Information Technology: First International Workshop, BioADIT 2004 (2004)

Ijspeert, A.J., Murata, M., Wakamiya, N.

Proceedings - From Animals to Animats: The Eighth International Conference on Simulation of Adaptive Behavior (2004)

Schaal, S., Ijspeert, A.J., Billard, A., Vijayakumar, S., Hallam, J., Meyer, J.A.

Computational approaches to motor learning by imitation (2003)

Schaal, S., Ijspeert, A.J., Billard, A.

Vertebrate locomotion (2003)

Ijspeert, A.J., Arbib, M.A.

Using Evolutionary Methods to Parameterize Neural Models: a Study of the Lamprey Central Pattern Generator (2003)

Hallam, J., Ijspeert, A.J., Duro, R.J., Santos, J., Grana, M.

Learning Movement Primitives (2003)

Schaal, S., Peters, J., Nakanishi, J., Ijspeert, A.J.

Computational Approaches to Motor Learning by Imitation (2003)

Schaal, S., Ijspeert, A.J., Billard, A.

Learning Attractor Landscapes for Learning Motor Primitives (2002)

Ijspeert, A.J., Nakanishi, J., Schaal, S., Becker, S., Thrun, S., Obermayer, K.

Learning Rhythmic Movements by Demonstration using Nonlinear Oscillators (2002)

Ijspeert, A.J., Nakanishi, J., Schaal, S.

Movement imitation with nonlinear dynamical systems in humanoid robots (2002)

Ijspeert, A.J., Nakanishi, J., Schaal, S.

Evolution of efficient swimming controllers for a simulated lamprey (2002)

Or, H., Hallam, J., Willshaw, D., Ijspeert, A.J.

A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems (2001)

Lerman, K., Galstyan, A., Martinoli, A., Ijspeert, A. J.

Collaboration through the Exploitation of Local Interactions in Autonomous Collective Robotics: The Stick Pulling Experiment (2001)

Ijspeert, A.J., Martinoli, A., Billard, A., Gambardella, L. M.

A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander (2001)

Ijspeert, A.J.

Real-time statistical learning for robotics and human augmentation (2001)

Schaal, S., Vijayakumar, S., D'Souza, S., Ijspeert, A.J., Nakanishi, J.

Nonlinear dynamical systems for imitation with humanoid robots (2001)

Ijspeert, A.J., Nakanishi, J., Shibata, T., Schaal, S.

Trajectory formation for imitation with nonlinear dynamical systems (2001)

Ijspeert, A.J., Nakanishi, J., Schaal, S.

Visual tracking in simulated salamander locomotion (2000)

Ijspeert, A.J., Arbib, M., Meyer, J.A., Berthoz, A., Floreano, D., Roitblat, H., ...

A neuromechanical investigation of salamander locomotion (2000)

Ijspeert, A.J.

A 3-D biomechanical model of the salamander (2000)

Ijspeert, A.J., Heudin, J.C.

Biologically inspired neural controllers for motor control in a quadruped robot (2000)

Billard, A., Ijspeert, A.J.

Locomotion and visually-guided behavior in salamander: a neuromechanical study (2000)

Ijspeert, A.J., Arbib, M., McKee, G.T., Schenker, P.S.

A leaky-integrator neural network for controlling the locomotion of a simulated salamander (2000)

Ijspeert, A.J.

Biologically inspired neural controllers for motor control in a quadruped robot (2000)

Billard, A., Ijspeert, A.J.

Evolution and development of a Central Pattern Generator for the swimming of a lamprey (1999)

Ijspeert, A.J., Kodjabachian, J.

A multi-robot system for adaptive exploration of a fast changing environment: probabilistic modelling and experimental study (1999)

Billard, A., Ijspeert, A.J., Martinoli, A.

Understanding collective aggregation mechanisms: from probabilistic modelling to experiments with real robots (1999)

Martinoli, A., Ijspeert, A.J., Mondada, F.

Evolving swimming controllers for a simulated lamprey with inspiration from Neurobiology (1999)

Ijspeert, A.J., Hallam, J., Willshaw, D.

Synthetic approaches to neurobiology: review and case study in the control of anguiliform locomotion (1999)

Ijspeert, A.J., Floreano, D., Mondada, F.

Evolution of neural controllers for salamander-like locomotion (1999)

Ijspeert, A.J., McKee, G.T., Schenker, P.S.

A probabilistic model for understanding and comparing collective aggregation mechanisms (1999)

Martinoli, A., Ijspeert, A.J., Gambardella, L.M., Floreano, D., Nicoud, J.D., Mondada, F.

Adaptive exploration of a dynamic environment by a group of communicating robots (1999)

Billard, A., Ijspeert, A.J., Martinoli, A., Floreano, D., Nicoud, J.D., Mondada, F.

Adaptive exploration of a dynamic environment by a group of communicating robots (1999)

Billard, A., Ijspeert, A.J., Martinoli, A.

Evolution of Neural Controllers for Salamander-Like Locomotion (1999)

A. J. Ijspeert

This paper presents an experiment in which evolutionary algorithms are used for the development of neural controllers for salamander locomotion. The aim of the experiment is to investigate which kind...

Understanding Collective Aggregation Mechanisms: From Probabilistic Modelling to Experiments with Real Robots (1999)

A. Martinoli, A. J. Ijspeert, F. Mondada

This paper presents an experiment of clustering implemented at three different levels: in a hardware implementation, in a sensor-based simulation and in a probabilistic model. The experiment consists...

Evolution of a central pattern generator for the swimming and trotting gaits of the salamander (1998)

Ijspeert, A.J., Hallam, J., Willshaw, D.

From lampreys to salamanders: evolving neural controllers for swimming and walking (1998)

Ijspeert, A.J., Hallam, J., Willshaw, D., Pfeifer, R., Blumberg, B., ...

Evolutionary robotics - a children's game (1998)

Lund, H.H., Miglino, O., Pagliarini, L., Billard, A., Ijspeert, A.J.

Evolution and development of a Central Pattern Generator for the swimming of a lamprey (1998)

Ijspeert, A.J., Kodjabachian, J.

Evolving swimming controllers for a simulated lamprey with inspiration from Neurobiology (1998)

Ijspeert, A.J., Hallam, J., Willshaw, D.

Evolutionary robotics - a children's game (1998)

Lund, H.H., Miglino, O., Pagliarini, L., Billard, A., Ijspeert, A.J.