Publications

The following list presents the search result of the EPFL repository Infoscience for the most recent BioRob publications. You can also check Auke Ijspeert ‘s Google Scholar page.

For the full list of BioRob publications, you can check our complete publications list.

Journal Articles

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion

A. R. Manzoori; D. Malatesta; A. Mortier; J. Garcia; A. Ijspeert et al. 

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

Transfer learning and augmented data-driven parameter prediction for robotic welding

C. Zhang; Y. Zhang; S. Liu; L. Wang 

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING. 2025. Vol. 95. DOI : 10.1016/j.rcim.2025.102992.

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

O. Hausdoerfer; A. Gupta; A. J. Ijspeert; D. 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. Hankov; M. Caban; R. Demesmaeker; M. Roulet; S. 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. Angelidis; J. P. Arreguit O’Neill; J. Bender; P. Berggold; Z. Liu et al. 

Robotics and Autonomous Systems. 2025. Vol. 185. DOI : 10.1016/j.robot.2024.104885.

A neuromechanics solution for adjustable robot compliance and accuracy

I. Abadia; A. Bruel; G. Courtine; A. J. Ijspeert; E. Ros et al. 

SCIENCE ROBOTICS. 2025. Vol. 10, num. 98. DOI : 10.1126/scirobotics.adp2356.

Balancing central control and sensory feedback produces adaptable and robust locomotor patterns in a spiking, neuromechanical model of the salamander spinal cord

A. Pazzaglia; A. Bicanski; A. Ferrario; J. Arreguit; D. Ryczko et al. 

PLoS Computational Biology. 2025. Vol. 21, num. 1, p. e1012101. DOI : 10.1371/journal.pcbi.1012101.

Role and modulation of various spinal pathways for human upper limb control in different gravity conditions

A. Bruel; L. Bacha; E. Boehly; C. De Trogoff; L. Represa et al. 

PLoS Computational Biology. 2025. Vol. 21, num. 1, p. e1012069. DOI : 10.1371/journal.pcbi.1012069.

Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons

A. R. Manzoori; S. Messara; A. Di Russo; A. Ijspeert; M. Bouri 

WEARABLE TECHNOLOGIES. 2024. Vol. 5. DOI : 10.1017/wtc.2024.11.

Fast ground-to-air transition with avian-inspired multifunctional legs

W. D. Shin; H. V. Phan; M. A. Daley; A. Ijspeert; D. Floreano 

Nature. 2024. Vol. 636, p. 86 – 91. DOI : 10.1038/s41586-024-08228-9.

Robust quadruped jumping via deep reinforcement learning

G. Bellegarda; C. Nguyen; Q. Nguyen 

Robotics and Autonomous Systems. 2024. Vol. 182, p. 104799. DOI : 10.1016/j.robot.2024.104799.

Eel-like robot swims more efficiently with increasing joint amplitudes compared to constant joint amplitudes

A. Anastasiadis; A. Rossi; L. Paez; K. Melo; E. D. Tytell et al. 

Physical Review Fluids. 2024. Vol. 9, num. 11. DOI : 10.1103/PhysRevFluids.9.110509.

Symmetry breaking and gait transition induced by hydrodynamic sensory feedback in an anguilliform swimming robot

J. Herault; L. Paez; K. Melo; R. Thandiackal; V. Lebastard et al. 

Physical review. E. 2024. Vol. 110, num. 5. DOI : 10.1103/PhysRevE.110.055104.

Asymmetric fin shape changes swimming dynamics of ancient marine reptiles’ soft robophysical models

H. Sprumont; F. Allione; F. Schwab; B. Wang; C. Mucignat et al. 

Bioinspiration & Biomimetics. 2024. Vol. 19, num. 4, p. 046005. DOI : 10.1088/1748-3190/ad3f5e.

AI-CPG: Adaptive Imitated Central Pattern Generators for Bipedal Locomotion Learned Through Reinforced Reflex Neural Networks

G. Li; A. Ijspeert; M. Hayashibe 

Ieee Robotics And Automation Letters. 2024. Vol. 9, num. 6, p. 5190 – 5197. DOI : 10.1109/LRA.2024.3388842.

Can micro-guidewire advancement forces predict clot consistency and location to assist the first-line technique for mechanical thrombectomy?

P. Reymond; E. V. Roussinova; O. Brina; J. Hofmeister; G. Bernava et al. 

Journal Of Neurointerventional Surgery. 2024. DOI : 10.1136/jnis-2024-021477.

Viability leads to the emergence of gait transitions in learning agile quadrupedal locomotion on challenging terrains

M. Shafiee; G. Bellegarda; A. Ijspeert 

Nature Communications. 2024. Vol. 15, num. 1, p. 3073. DOI : 10.1038/s41467-024-47443-w.

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization

A. R. Manzoori; D. Malatesta; J. Primavesi; A. Ijspeert; M. Bouri 

Frontiers In Bioengineering And Biotechnology. 2024. Vol. 12, p. 1324587. DOI : 10.3389/fbioe.2024.1324587.

Can lateral tenodesis improve the rotational stability of the ACL reconstruction? A finite element analysis

K. Risvas; D. Stanev; K. Moustakas 

Plos One. 2024. Vol. 19, num. 2, p. e0293161. DOI : 10.1371/journal.pone.0293161.

Evaluation of antigravitational support levels provided by a passive upper-limb occupational exoskeleton in repetitive arm movements

G. Ramella; L. Grazi; F. Giovacchini; E. Trigili; N. Vitiello et al. 

Applied Ergonomics. 2024. Vol. 117, p. 104226. DOI : 10.1016/j.apergo.2024.104226.

Conference Papers

Assessing Balance During Gait with a Lower Limb Exoskeleton

Z. O. Orhan; A. M. E. Sizaret; A. Ijspeert; M. Bouri 

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.

MOSAIC at the ELT: a unique instrument for the largest ground-based telescope

R. Pelló; M. Puech; E. Prieto; M. Rodrigues; R. Sanchez-Janssen et al. 

2024. 10 Ground-Based and Airborne Instrumentation for Astronomy, Yokohama, Japan, 2024-06-16 – 2024-06-21. DOI : 10.1117/12.3019047.

Online Optimization of Central Pattern Generators for Quadruped Locomotion

Z. Zhang; G. Bellegarda; M. Shafiee; A. Ijspeert 

2024. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, Abu Dhabi, United Arab Emirates, 2024-10-14 – 2024-10-18. p. 13547 – 13554. DOI : 10.1109/IROS58592.2024.10802762.

Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments

H. Saied; A. Chemori; M. Bouri; M. El Rafei; C. Francis 

2024. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, Abu Dhabi, United Arab Emirates, 2024-10-14 – 2024-10-18. p. 12000 – 12007. DOI : 10.1109/IROS58592.2024.10802641.

Learning-based Hierarchical Control: Emulating the Central Nervous System for Bio-Inspired Legged Robot Locomotion

G. Sun; M. Shafiee; P. Li; G. Bellegarda; A. Ijspeert et al. 

2024. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, Abu Dhabi, United Arab Emirates, 2024-10-14 – 2024-10-18. p. 13938 – 13945. DOI : 10.1109/IROS58592.2024.10801412.

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

Z. O. Orhan; M. Shafiee; V. Juillard; J. C. Oliveira; A. Ijspeert et al. 

2024. IEEE International Conference on Robotics and Automation, Yokohama, Japan, 2024-05-13 – 2024-05-17. p. 3248 – 3255. DOI : 10.1109/ICRA57147.2024.10610027.

ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots

M. Shafiee; G. Bellegarda; A. Ijspeert 

2024. IEEE International Conference on Robotics and Automation, Yokohama, Japan, 2024-05-13 – 2024-05-17. p. 3471 – 3477. DOI : 10.1109/ICRA57147.2024.10610155.

Real-Time Locomotion Transitions Detection: Maximizing Performances with Minimal Resources

Z. O. Orhan; A. Dal Prete; A. Bolotnikova; M. Gandolla; A. Ijspeert et al. 

2024. IEEE International Conference on Robotics and Automation, Yokohama, Japan, 2024-05-13 – 2024-05-17. p. 3241 – 3247. DOI : 10.1109/ICRA57147.2024.10611651.

Theses

Investigation of the role of spinal circuits in human motor control, from healthy to rehabilitation conditions

A. J. Bruel / A. Ijspeert; G. Courtine (Dir.)  

Lausanne, EPFL, 2024. 

Working Papers

Human-in-the-Loop Optimization for Terrain-and User-Adaptive Gait Phase Estimation in Phase-Portrait-Based Methods

T. Ye; A. R. Manzoori; A. Ijspeert; M. Bouri 

2024