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The ability to efficiently move in complex environments is a fundamental property both for animals and for robots, and the problem of locomotion and movement control is an area in which neuroscience, biomechanics, and robotics can fruitfully interact. In this talk, I will present how biorobots and numerical models can be used to explore the interplay of the four main components underlying animal locomotion, namely central pattern generators (CPGs), reflexes, descending modulation, and the musculoskeletal system. Going from lamprey to human locomotion, I will present a series of models that tend to show that the respective roles of these components have changed during evolution with a dominant role of CPGs in lamprey and salamander locomotion, and a more important role for sensory feedback and descending modulation in human locomotion. I will also present the Roombots project, a project in which we use self-reconfigurable robots to create an assistive environment for people who have limited mobility. 

在复杂环境中高效移动的能力是动物和机器人的重要特性，而运动及其控制问题是神经科学、生物力学和机器人学的交叉领域。这次演讲将介绍如何使用仿生机器人和数值模型来探索动物运动的四个主要组成部分之间的相互作用，即中枢模式发生器（CPG）、反射、下行调制和肌肉骨骼系统。这里我将向大家展示一系列从七鳃鳗到人类运动的模型，从这些模型中可以看到，在进化过程中，这些部分的各自作用发生了变化，其中CPG在七鳃鳗和蝾螈运动中占主导地位，而在人类运动中，感觉反馈和下降调节起着更重要的作用。我还将介绍Roombots项目，在该项目中，我们使用自重构机器人为行动受限的人创造一个辅助环境。

 嘉宾：

Auke Ijspeert​is a professor at EPFL (the Swiss Federal Institute of Technology in Lausanne, Switzerland), IEEE Fellow, and head of the Biorobotics Laboratory (https://www.epfl.ch/labs/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). His research interests are at the intersection between robotics and computational neuroscience. He is interested in using numerical simulations and robots to gain a better understanding of animal locomotion and movement control, and in using inspiration from biology to design novel types of robots and locomotion controllers (see for instance Ijspeert et al, Science, Vol. 315, 2007 and Ijspeert, Science Vol. 346, 2014). He is also interested in assisting persons with limited mobility using exoskeletons and assistive furniture. With his colleagues, he has received paper awards at ICRA2002, CLAWAR2005, IEEE Humanoids 2007, IEEE ROMAN 2014, CLAWAR 2015, and CLAWAR 2019. He is associate editor for the International Journal of Humanoid Robotics and the IEEE Transactions on Medical Robotics and Bionics. He is also a member of the Board of Reviewing Editors of Science magazine. 

Auke Ijspert是瑞士洛桑联邦理工学院教授、IEEE Fellow、仿生机器人实验室主任(https://www.epfl.ch/labs/biorob)。他在1995年获得瑞士洛桑联邦理工学院学士及硕士学位，1999年获得英国爱丁堡大学博士学位。他的研究兴趣是机器人学和计算神经科学的交叉，特别专注于利用数值模拟和机器人更好地理解动物运动和运动控制，并利用生物学的灵感设计新型机器人和运动控制器（参见Science 2007 及Science 2014）。他的研究兴趣还包括使用外骨骼和模块化机器人在辅助移动上的应用。他在国际会议上多次获奖，包括ICRA2002、CLAWAR2005、IEEE Humanoids 2007、IEEE ROMAN 2014、CLAWAR 2015和CLAWAR 2019。他目前担任International Journal of Humanoid Robotics 及IEEE Transactions on Medical Robotics and Bionics的副主编。他还是Science编辑委员会的成员。

​*讲座主题4: 

The Programmable Matter Project: Realizing a matter made of autonomous robots/

可编程物质：自主机器人组成物质

摘要:

Technological advances, especially in the miniaturization of robotic devices foreshadow the emergence of large-scale ensembles of small-size resource-constrained robots that distributivity cooperate to achieve complex tasks. These ensembles are formed by independent, intelligent, and communicating units which act as a whole forming a programmable matter i.e., a matter able to autonomously change its shape.

In my talk, I will present our research effort in building a modular robot composed of mm-scale units. We use micro-technology to scale down the size of each element, and we study geometry, structure, actuation, power, electronics and integration. We develop new software methods to scale up in the number of managed robots like synchronization, leader election, self-assembly and self-reconfiguration to name a few.

随着技术的发展，尤其是机器人设备的小型化，大规模的小型机器人通过分布式协作完成复杂的任务成为可能。这些集合由独立的、智能的和可通信的单元组成，这些单元作为一个整体，形成一个可编程的物质，即能够自动改变其形状的物质。在这个报告中，我将介绍我们研发的一个由毫米级单元组成的模块化机器人。我们使用微技术缩小每个元件的尺寸，研究结构、驱动、电子和集成。我们开发了新的软件方法来扩大管理机器人的数量，比如同步化、集群领导选举、自组装和自重构等等。

嘉宾：