6 citations · 10 across the 5 of their papers we have counts for
10 papers · 1 filter
Rapid Online Learning of Hip Exoskeleton Assistance Preferences
Giulia Ramella, Auke Ijspeert, Mohamed Bouri
Hip exoskeletons are increasing in popularity due to their effectiveness across various scenarios and their ability to adapt to different users. However, personalizing the assistan…
DeepTransition: Viability Leads to the Emergence of Gait Transitions in Learning Anticipatory Quadrupedal Locomotion Skills
Milad Shafiee, Guillaume Bellegarda, Auke Ijspeert
Quadruped animals seamlessly transition between gaits as they change locomotion speeds. While the most widely accepted explanation for gait transitions is energy efficiency, there…
CPG-RL: Learning Central Pattern Generators for Quadruped Locomotion
Guillaume Bellegarda, Auke Ijspeert
In this letter, we present a method for integrating central pattern generators (CPGs), i.e. systems of coupled oscillators, into the deep reinforcement learning (DRL) framework to…
Imprecise dynamic walking with time-projection control
Salman Faraji, Philippe Muellhaupt, Auke J. Ijspeert
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Ta…
Scalable closed-form trajectories for periodic and non-periodic human-like walking
Salman Faraji, Auke Jan Ijspeert
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a line…
Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs
Alexander Spröwitz, Alexandre Tuleu, Mostafa Ajallooeian +9
We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 robot is one of a kind of a recent, bioinspired legged robot class designed…