Auke Ijspeert

EPFL STI IBI-STI BIOROB
MED 1 1226 (Bâtiment MED)
Station 9
1015 Lausanne

EPFL STI IGM-GE
MED 1 1226 (Bâtiment MED)
Station 9
1015 Lausanne

Expertise

Locomotion, Robotics, Computational neuroscience, Machine learning, Nonlinear dynamical systems

Twitter

Auke Ijspeert is a full professor at the EPFL, and head of the Biorobotics Laboratory (BioRob). He has a B.Sc./M.Sc. in physics from the EPFL (1995), and a PhD in artificial intelligence from the University of Edinburgh (1999). He carried out postdocs at IDSIA and EPFL, and at the University of Southern California (USC). He then became a research assistant professor at USC, and an external collaborator at ATR (Advanced Telecommunications Research institute) in Japan. In 2002, he came back to the EPFL as an SNF assistant professor. He was promoted to associate professor in October 2009 and to full professor in April 2016. His primary affiliation is with the Institute of Bioengineering, and secondary affiliation with the Institute of Mechanical Engineering.

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

G. LiangA. J. IjspeertM. YimT. L. Lam

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

X. LiuF. A. LongchampL. ZuninoL. GeversL. R. Schneider  et al.

Science Robotics. 2026. Vol. 11, num. 110. DOI : 10.1126/scirobotics.adw7868.

SeqIKPy: a Python package for inverse kinematics in insects

P. G. ÖzdilS. Wang-ChenC. NingA. IjspeertP. Ramdya

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

A. R. ManzooriD. MalatestaA. MortierJ. GarciaA. Ijspeert  et al.

Scientific Reports. 2025. Vol. 15, num. 1, p. 507. DOI : 10.1038/s41598-024-84253-y.

Optimized user-guided motion control of modular robots

A. BolotnikovaK. HoldcroftH. CerboneC. BelkeA. Ijspeert  et al.

Nature communications. 2025. Vol. 16, num. 1. DOI : 10.1038/s41467-025-63706-6.

Artificial embodied circuits uncover neural architectures of vertebrate visuomotor behaviors

X. LiuM. D. LoringL. ZuninoK. E. FoukeF. A. Longchamp  et al.

Science Robotics. 2025. Vol. 10, num. 107. DOI : 10.1126/scirobotics.adv4408.

In Memoriam: Prof. Reymond Clavel [RAM Society News]

A. BillardM. BouriM. S. SakarJ. PaikA. Ijspeert  et al.

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

K. YasuiA. GuptaQ. FuS. SuzukiJ. Hainer  et al.

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

L. GeversA. GuptaL. PaezQ. FuE. M. Standen  et al.

Bioinspiration & Biomimetics. 2025. DOI : 10.1088/1748-3190/addc27.

Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

O. HausdoerferA. GuptaA. J. IjspeertD. Renjewski

BIOINSPIRATION & BIOMIMETICS. 2025. Vol. 20, num. 2. DOI : 10.1088/1748-3190/adb8b1.

Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept

N. HankovM. CabanR. DemesmaekerM. RouletS. Komi  et al.

SCIENCE ROBOTICS. 2025. Vol. 10, num. 100. DOI : 10.1126/scirobotics.adn5564.

A smoothed particle hydrodynamics framework for fluid simulation in robotics

E. AngelidisJ. P. Arreguit O'NeillJ. BenderP. BerggoldZ. Liu  et al.

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

I. AbadiaA. BruelG. CourtineA. J. IjspeertE. Ros  et al.

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

L. TangD. RüeggR. ZhangA. BolotnikovaJ. Rabaey  et al.

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

A. BruelL. BachaE. BoehlyC. De TrogoffL. Represa  et al.

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?

Z. Ö. OrhanA. IjspeertM. Bouri

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

G. BellegardaM. ShafieeA. Ijspeert

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

G. RamellaA. IjspeertM. Bouri

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

G. RamellaA. IjspeertM. Bouri

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

Z. O. OrhanA. M. E. SizaretA. IjspeertM. Bouri

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

A. J. IjspeertA. CrespiD. RyczkoJ.-M. Cabelguen

Science. 2007. DOI : 10.1126/science.1138353.

Dynamic hebbian learning in adaptive frequency oscillators

L. RighettiJ. BuchliA. J. Ijspeert

Physica D. 2006. DOI : 10.1016/j.physd.2006.02.009.

Learning Attractor Landscapes for Learning Motor Primitives

A. IjspeertJ. NakanishiS. Schaal

2002. p. 1547-1554.

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

A. Ijspeert

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.