Auke Ijspeert
EPFL STI IBI-STI BIOROB
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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
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EPFL › VPA › VPA-AVP-DLE › AVP-DLE-EDOC › EDRS-GE
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Prix et distinctions
1997
Swiss National Science Foundation
2006
IEEE
2020
IEEE
2024
15th International Conference on the Simulation of Adaptive Behavior
2018
23rd IEEE International Symposium on Robot and Human Interactive Communication
2014
IEEE-RAS International conference on Humanoid Robots
2007
IEEE International Conference on Robotics and Automation
2002
he 22nd International Conference on Climbing and Walking Robots
2019
Journal Articles
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.Learning-Based Locomotion Transition Detection: Offline Optimization to Tackle System- and User-Specific Variability in Lower Limb Exoskeletons
IEEE/ASME Transactions on Mechatronics. 2025. p. 1 - 12. DOI : 10.1109/tmech.2025.3628049.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.Theses
An integrative computational modeling approach for Drosophila motor control
Lausanne, EPFL, 2025. p. 257. DOI : 10.5075/epfl-thesis-10986.Partial Assistance with Lower-Limb Exoskeletons to Enhance Gait and Balance in Daily Living Activities
Lausanne, EPFL, 2025. p. 189. DOI : 10.5075/epfl-thesis-11153.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.Enseignement et PhD
Doctorant·es actuel·les
Zeynep Özge Orhan, Lixuan Tang, Louis Gevers, Chuanfang Ning, Alessandro Pazzaglia, Amirreza Razmjoo Fard, Astha Gupta, Javier Jia Jie Pey, Giulia Ramella, Alexandros Anastasiadis
A dirigé les thèses EPFL de
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
A co-dirigé les thèses EPFL de
Ludovic Daler, Ali Reza Manzoori, Pembe Gizem Ozdil
Cours
Computational motor control
MICRO-436
Ce cours présente (1) une revue de differents types de modèles numeriques du contrôle du mouvement chez les animaux, allant du poisson jusqu'à l'humain, (2) différentes techniques de modélisation, et (3) une analyse de l'utilisation des ces modèles en robotique et neuroprothèses.
Legged robots
MICRO-507
Le cours présente le design, contrôle, et les applications reliés aux robots mobiles à pattes.
Topics in Autonomous Robotics
ENG-615