Auke Ijspeert
EPFL STI IBI-STI BIOROB
MED 1 1226 (Bâtiment MED)
Station 9
1015 Lausanne
+41 21 693 26 58
+41 21 693 26 40
Office:
MED 1 1226
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Website: https://sv.epfl.ch/education
EPFL STI IGM-GE
MED 1 1226 (Bâtiment MED)
Station 9
1015 Lausanne
+41 21 693 26 58
Office:
MED 1 1226
EPFL › STI › IGM › IGM-GE
+41 21 693 26 58
EPFL › STI › STI-SGM › SGM-ENS
+41 21 693 26 58
EPFL › STI › STI-DEC › STI-CEA
+41 21 693 26 58
EPFL › CDH › CDH-DIR › CDH-CEA
+41 21 693 26 58
EPFL › VPA › VPA-AVP-DLE › AVP-DLE-EDOC › EDRS-GE
Website: https://go.epfl.ch/phd-edrs
Expertise
His research interests are at the intersection between robotics, computational neuroscience, nonlinear dynamical systems, and machine learning. He is interested in using numerical simulations and robots to get a better understanding of sensorimotor coordination in animals, and in using inspiration from biology to design novel types of robots and adaptive controllers (see for instance Ijspeert et al Science 2007, Ijspeert Science 2014, and Nyakatura et al Nature 2019). He is also investigating how to assist people with limited mobility using exoskeletons and assistive furniture. He is regularly invited to give talks on these topics (e.g. TED talk given at TED Global Geneva, Dec 8 2015). With his colleagues, he has received paper awards at ICRA2002, CLAWAR2005, IEEE Humanoids 2007, IEEE ROMAN 2014, CLAWAR 2015, SAB2018, CLAWAR 2019, and ICRA 2024.
He is an IEEE Fellow, member of the Board of Reviewing Editors of Science magazine, and associate editor for the IEEE Transactions on Medical Robotics and Bionics. He has acted as an associate editor for the IEEE Transactions on Robotics (2009-2013), Soft Robotics (2018-2021), and the International Journal of Humanoids Robotics (2017-2022). He was a guest editor for the Proceedings of IEEE, IEEE Transactions on Biomedical Engineering, Autonomous Robots, IEEE Robotics and Automation Magazine, and Biological Cybernetics. He has been the organizer of 7 international conferences (BioADIT2004, SAB2004, AMAM2005, BioADIT2006, LATSIS2006, SSRR2016, AMAM2019), and a program committee member of over 50 conferences.
Awards
Marie Curie Scholarship
1997
SNSF professorship
Swiss National Science Foundation
2006
IEEE Fellow
IEEE
2020
IEEE International Conference on Robotics and Automation Most Influential Paper Award
IEEE
2024
Best conference paper award at SAB 2018
15th International Conference on the Simulation of Adaptive Behavior
2018
Best paper award at IEEE RO-MAN 2014
23rd IEEE International Symposium on Robot and Human Interactive Communication
2014
Best paper award at Humanoids 2007
IEEE-RAS International conference on Humanoid Robots
2007
Overall Best Paper Award at ICRA 2002
IEEE International Conference on Robotics and Automation
2002
Best paper prize at CLAWAR 2019
he 22nd International Conference on Climbing and Walking Robots
2019
Main Publications
Journal Articles
Modular reconfigurable robots: Toward on-demand multifunctional applications
Science Robotics. 2026. Vol. 11, num. 111. DOI : 10.1126/scirobotics.adz1999.Energy efficiency and neural control of continuous versus intermittent swimming in a fishlike robot
Science Robotics. 2026. Vol. 11, num. 110. DOI : 10.1126/scirobotics.adw7868.SeqIKPy: a Python package for inverse kinematics in insects
Journal of Open Source Software. 2026. Vol. 11, num. 117. DOI : 10.21105/joss.08557.Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion
Scientific Reports. 2025. Vol. 15, num. 1, p. 507. DOI : 10.1038/s41598-024-84253-y.Optimized user-guided motion control of modular robots
Nature communications. 2025. Vol. 16, num. 1. DOI : 10.1038/s41467-025-63706-6.Artificial embodied circuits uncover neural architectures of vertebrate visuomotor behaviors
Science Robotics. 2025. Vol. 10, num. 107. DOI : 10.1126/scirobotics.adv4408.In Memoriam: Prof. Reymond Clavel [RAM Society News]
IEEE Robotics & Automation Magazine. 2025. Vol. 32, num. 3, p. 213 - 214. DOI : 10.1109/MRA.2025.3586085.Multisensory feedback makes swimming circuits robust against spinal transection and enables terrestrial crawling in elongate fish
Proceedings of the National Academy of Sciences. 2025. Vol. 122, num. 34. DOI : 10.1073/pnas.2422248122.Investigating the effect of morphology on the terrestrial gaits of amphibious fish using a reconfigurable robot
Bioinspiration & Biomimetics. 2025. DOI : 10.1088/1748-3190/addc27.Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey
BIOINSPIRATION & BIOMIMETICS. 2025. Vol. 20, num. 2. DOI : 10.1088/1748-3190/adb8b1.Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept
SCIENCE ROBOTICS. 2025. Vol. 10, num. 100. DOI : 10.1126/scirobotics.adn5564.A smoothed particle hydrodynamics framework for fluid simulation in robotics
Robotics and Autonomous Systems. 2025. Vol. 185, p. 104885. DOI : 10.1016/j.robot.2024.104885.A neuromechanics solution for adjustable robot compliance and accuracy
SCIENCE ROBOTICS. 2025. Vol. 10, num. 98. DOI : 10.1126/scirobotics.adp2356.Velocity Potential Field Modulation for Dense Coordination of Polytopic Swarms and Its Application to Assistive Robotic Furniture
IEEE Robotics and Automation Letters. 2025. p. 1 - 8. DOI : 10.1109/lra.2025.3577423.Role and modulation of various spinal pathways for human upper limb control in different gravity conditions
PLoS Computational Biology. 2025. Vol. 21, num. 1, p. e1012069. DOI : 10.1371/journal.pcbi.1012069.Conference Papers
3D Path Control: Can we use lower limb inter-joint coordination to assist gait and balance?
2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). 2025. 2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Eindhoven, Netherlands, 2025-08-25 - 2025-08-29. p. 571 - 576. DOI : 10.1109/ro-man63969.2025.11217626.AllGaits: Learning All Quadruped Gaits and Transitions
2025 IEEE International Conference on Robotics and Automation (ICRA). 2025. 2025 IEEE International Conference on Robotics and Automation, Atlanta, GA, USA, 2025-05-19 - 2025-05-23. p. 15929 - 15935. DOI : 10.1109/icra55743.2025.11127285.Rapid Online Learning of Hip Exoskeleton Assistance Preferences
2025 IEEE International Conference on Robotics and Automation (ICRA). 2025. 2025 IEEE International Conference on Robotics and Automation, Atlanta, GA, USA, 2025-05-19 - 2025-05-23. p. 2501 - 2508. DOI : 10.1109/icra55743.2025.11128809.Adaptive Negative Damping Control for User-Dependent Multi-Terrain Walking Assistance With a Hip Exoskeleton
2025 International Conference On Rehabilitation Robotics (ICORR). 2025. 2025 International Conference On Rehabilitation Robotics, Chicago, IL, USA, 2025-05-12 - 2025-05-16. p. 1340 - 1346. DOI : 10.1109/icorr66766.2025.11063198.Assessing Balance During Gait with a Lower Limb Exoskeleton
Converging Clinical and Engineering Research on Neurorehabilitation V. Proceedings of the 6th International Conference on Neurorehabilitation (ICNR 2024), November 5–8, 2024, La Granja, Spain. 2025. 6th International Conference on Neurorehabilitation, La Granja, Spain, 2024-11-05 - 2024-11-08. p. 228 - 232. DOI : 10.1007/978-3-031-77588-8_45.From swimming to walking with a salamander robot driven by a spinal cord model
Science. 2007. DOI : 10.1126/science.1138353.Dynamic hebbian learning in adaptive frequency oscillators
Physica D. 2006. DOI : 10.1016/j.physd.2006.02.009.Learning Attractor Landscapes for Learning Motor Primitives
2002. p. 1547-1554.A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander
Biological Cybernetics. 2001. DOI : 10.1007/s004220000211.Teaching & PhD
PhD Students
Zeynep Özge Orhan, Lixuan Tang, Louis Gevers, Chuanfang Ning, Alessandro Pazzaglia, Amirreza Razmjoo Fard, Astha Gupta, Javier Jia Jie Pey, Giulia Ramella, Alexandros Anastasiadis
Past EPFL PhD Students
Alessandro Crespi, Jonas Buchli, Joël Rossier, Ludovic Righetti, Pierre-André Mudry, Sarah Dégallier Rochat, Alexander Spröwitz, Jérémie Knüsel, Soha Pouya, Konstantinos Karakasiliotis, Andrej Bicanski, Sébastien Gay, Jesse van den Kieboom, Stéphane Bonardi, Mostafa Ajallooeian, Massimo Vespignani, Alexandre Tuleu, Nicolas Van der Noot, Robin Thandiackal, Salman Faraji, Peter Eckert, Tomislav Horvat, Florin Dzeladini, Mehmet Mutlu, Simon Lukas Hauser, Jessica Lanini, Romain Baud, Miroslav Caban, Shravan Tata Ramalingasetty, Jonathan Patrick Arreguit O'Neill, Laura Paez, Andrea Di Russo, Alice Julie Bruel, Milad Shafiee Ashtiani
Past EPFL PhD Students as codirector
Ludovic Daler, Ali Reza Manzoori, Pembe Gizem Ozdil
Courses
Computational motor control
MICRO-436
The course gives (1) a review of different types of numerical models of control of locomotion and movement in animals, from fish to humans, (2) a presentation of different techniques for designing models, and (3) an analysis of the use and testing of those models in robotics and neuroprosthetics.
Legged robots
MICRO-507
The course presents the design, control, and applications of legged robots. It gives a review of different types of legged robots (including two-, four- and multi-legged robots), and an analysis of different control methods for legged locomotion.
Topics in Autonomous Robotics
ENG-615
Students will be introduced to modern approaches in control and design of autonomous robots through lectures and exercises.