All presentations will take place in the IRMACS theatre (Map).

The final overview program schedule may be downloaded here.

The full final schedule may be downloaded here or navigated below.

The full set of presentation abstracts may be downloaded here.

Sunday, June 7

18:00    Informal dinner and drinks at the Highland Pub at SFU

Monday, June 8 

8:30      Coffee and refreshments served in the atrium

9:00      Welcome from the organizers (video)

9:30      Keynote: Art Kuo - 25 ways to reduce or eliminate the energetic cost of walking (video)

10:15    Presentation: Peter Adamczyk - Center of mass mechanics in amputees - asymmetric gait for an asymmetric body (video)

10:30    Coffee and refreshments served in the atrium

11:00    Presentation: Jesse Dean - Development of a passive exoskeleton for swing phase gait assistance (video)

11:15    Presentation: Ernesto Martinez-Villalpando - Biomimetic active prosthetic knee with antagonistic actuation (video)

11:30    Presentation: Bram Vanderborght - New adjustable compliant actuator MACCEPA 2.0 for energy efficient locomotion (video)

11:45    Keynote: Hugh Herr - On the design of biomimetic leg prostheses and orthoses (video)

12:30    Lunch

 

14:00    Presentation: Jim Usherwood - From ducks toundergraduates… how effective is the compass-gait in accounting for top walking speeds? (video)

14:30    Presentation: Sukyung (Sue) Park - Gait strategy changes with walking speed to accommodate biomechanical constraints (video unavailable)

14:45    Presentation: Alan Wilson - Muscle tendon unit dynamics during locomotion in humans and other animals (video)

15:15    Presentation: Sam Walcott - Using biophysically- based models to determine muscle energy consumption (video)

15:45    Tutorial: Build Your Own ‘Bot - Daniël Karssen

 

18:00    Barbecue Dinner at the Highland Pub at SFU

20:00    Informal drinks and snacks at the Highland Pub at SFU

 

Tuesday, June 9

8:30      Coffee and refreshments served in the atrium

9:00      Presentation: Hartmut Geyer - Could muscle reflexes that encode principles of legged mechanics dominate human walking? (video)

9:30      Presentation: Heather More - The scaling of sensorimotor control in terrestrial locomotion (video)

9:45      Tutorial: Limit Cycle Analysis - Peter Adamczykand Shawn O’Connor (video)

11:15    Presentation: Lowie van Zijl - Dynamic One-Step Transitions (video unavailable)

11:30    Presentation: Joseph Solomon - Braitenberg control of a seven-link walking model (video unavailable)

11:45    Keynote: Russ Tedrake - Nonlinear control for the compass gait (video)

12:30    Lunch

 

14:00    Presentation: David Lee - Determining minimum collisional loss in quadrupedal gait (video unavailable)

14:30    Presentation: Martin Groß - How to achieve stable trotting? (video)

14:45    Presentation: C. David Remy - Passive dynamic walking with quadrupeds - extensions towards 3D (video)

15:00    Keynote: Chris Atkeson - Quadrupedal dynamic walking (video)

15:45    Poster Session: (video)

Christopher Assad - Cerebellar balance for humanoids

Yvonne Blum - Can impacts be avoided in stable running?

Houman Dallali - Non-minimum phase problem of ZMP stabilization

Tomas de Boer - Stumble recovery of a simple walking model

Reza Ghorbani - Elastic collision in dynamic walking of biped locomotion

Daniel Giesbrecht - Dynamics of legged walking mechanism “Wind Beast”

David Post - An analytical measure of the control authority over the unactuated degree of freedom in underactuated bipeds

Alena Grabowski - The effects of velocity and weight support on metabolic power and ground reaction forces during walking

Martin Grimmer - Biarticular structures to strengthen the push-off in lower leg prosthesis

Kathrin Hatz - Contribution of proprioceptive feedback to ankle extensor activity in freely walking cats

Devin Koepl - Force controlled actuator

Michael Levashov - Feedback control of dynamic bounding gaits in LittleDog

Qingguo Li - Stride-by-stride walking speed estimation using inverted pendulum model

Chenggang Liu - Standing balance control using a trajectory library

Hiroshi Kimura - Stable quadrupedal dynamic walking using phase modulations based on leg unloading

Moritz Maus - Postural stability in human walking

Matthew Millard - Foot placement and balance in 3D

Michael Mistry - Compliant walking using floating base inverse dynamics

 

18:30    Buses leave for downtown Vancouver

19:15    Informal dinners and exploration of downtown Vancouver

 

23:00    Buses return to SFU

 

 

Wednesday, June 10 

8:30      Coffee and refreshments served in the atrium

9:00      Presentation: Jonathan Hurst - Stiffness control for robot running (video)

9:15      Presentation: Marco Hutter - Open-loop control strategies in passive dynamic hopping (video)

9:30      Keynote: Martijn Wisse - Open-loop stable robot (video)

10:15    Coffee break in the atrium

10:45    Presentation: Jonathan Dingwell - Sub-optimal stochastic control models explain how humans exploit redundancy to control step-to-step variability during treadmill walking (video)

11:15    Presentation: Hiroshi Kimura - Gait Adaptation Model in Human Splitbelt Treadmill Walking (video)

11:30 Presentation: Manoj Srinivasan - Optimal gaits of a point mass biped with knees (video)

11:30 Presentation: Shawn O’Connor - Direction dependent weighting of walking and standing balance (video)

11:45    Keynote: David Reinkensmeyer - Walking consistently by constantly adapting (video)

12:30    Lunch

 

14:00    Presentation: Jerry Pratt - Applying capture points to the control of a dynamic walking bipedal robot (video)

14:30    Presentation: Sjoerd Bruijn - The role of arm swinging in stabilizing human walking (video)

14:45    Presentation: John Schmitt - Dynamics and stability of lateral plane locomotion on inclines (video)

15:00    Keynote: Stephen Robinovitch - The mechanics ofinjury avoidance during falls: lessons for robots from the human experience (video)

15:45    Poster Session: (video)

John Rebula - Human walking and running: it’s all in the redirection

Thomas Robert - Angular momentum synergies during walking

Ryan Cawsey - The effect of stride length changes on triceps surae excitation during walking

Cécile Smeesters - Theoretically predicting the disturbance threshold line separating falls from recoveries

Mark Snaterse - Real-time selection of preferred step frequency in human walking

Kristine Snyder - A simple control systems approach to stability throughout the walking cycle

Benjamin Stephens - Biped energy control for balance and walking

Thomas Sugar - A control algorithm for a prosthetic ankle using phase plane invariants

Laura Trutoiu - Gait variability measures for younger and older adults under four walking conditions

Gijs van Oort - Control of walking robots using virtual springs

Eric Whitman - Optimization-based policy search for control of periodic systems

Dengpeng Xing - Feedback controller parameter optimization for standing balance

Karl Zelik - Passive dynamic simulation of ankle elasticity during walking: implications for foot prostheses

 

18:00    Dinner at the Highland Pub at SFU

19:30    Informal drinks and snacks at the Highland Pub at SFU

 

 

Thursday, June 11 

8:30      Coffee and refreshments served in the atrium

9:00      Presentation: Michael Ernst - Spring-like legged locomotion with constant speed on uneven ground: a control approach (video)

9:15      Presentation: Daniël Karssen - Non-linear leg spring increases the disturbance rejection during running (video)

9:30      Presentation: Alexander Sproewitz - Compliant leg design for a quadruped robot (video)

9:45      Presentation: Dai Owaki - A two-dimensional passive dynamic running biped with elastic elements (video)

10:00    Keynote: Andy Ruina - The Steinkamp Hopper: It can’t stand up, yet it hops 109 times in 5 meters without falling. Is it stable? (video)

10:45    Coffee and refreshments served in the atrium

11:15    Tutorial: State Estimation - Art Kuo (video)

12:15    Group Photo

12:45    Lunch

 

14:00    Presentation: Pranav Bhounsule - Cornell Ranger: energy-optimal control (video)

14:15    Presentation: Louis Flynn - Optimization of a synthetic wheel prismatic joint biped with torso (video)

14:30    Keynote: Tad McGeer - A pitch for the W-prize (video)

15:15    Device Demonstrations:

Isaac Chang - Cart for measurement of overground walking speed

Stelian Coros - Control a physics-based character in virtual environment

Max Donelan - Bionic Power energy-harvesting knee brace

Louis Flynn - MSU Biped, a synthetic wheel walking robot

Martin Grimmer - AKFP, a biarticular orthosis-prosthesis

Ernesto Martinez-Villalpando - Biomimetic active prosthetic knee

Mark Snaterse - Servo treadmill

Alan Wilson - Measuring locomotion using GPS and IMU

Martijn Wisse - Walking robot “Flame”

Karl Zelik - Energy-recycling foot prostheses

16:45    Farewell from the organizers and Preview of DW2010 (video)

 

18:00    Busses leave for Vancouver Science Center

19:00    Dynamic Walking Farewell Party at the Vancouver Science Center

 

23:00    Busses return to SFU