Program

Click on any of the speaker/titles for more information, including a brief abstract for each talk.  

Unless otherwise specified, all of the meeting events will be held at the conference center on the 6th floor of MIT E14 (the MIT Media Lab).  A map is available on the navigation bar to the left.

 

Wednesday, July 7

6pm-9pm Welcome Reception

 

 

 

Thursday, July 8

8:00am Continental breakfast
9:00am Welcome from the organizers
Session: Feedback Control I (Moderator: Russ Tedrake)
9:15am Jessy Grizzle.  Feedback Control of the Bipedal Robot MABEL
10:00am Anton Shiriaev. Sensitivity of Walking Gaits to Roughness of Terrain
10:25am Coffee break
10:55am Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking
11:20am Bobby Gregg. Control and Planning with Asymptotically Stable Gait Primitives: 3D Dynamic Walking to Locomotor Rehabilitation
11:45pm Organized Discussion
12:00pm Lunch
1:15pm Tutorial: Trajectory Optimization (Manoj Srinivasan)
Session: Prosthetics, Orthotics, and Exoskeletons (Moderator: Hugh Herr)
2:45pm Dan Ferris.  Developing a Brain-Controlled Robotic Lower-Limb Exoskeleton
3:30pm Coffee break
4:00pm Rodger Kram. Passive Elastic Running Prostheses; Very Good, But Not Yet Better
4:25pm Michael Goldfarb. Implicit Control of a Powered Knee and Ankle Prosthesis
4:50pm Grant Elliot/Alena Grabowski. Can external springs augment human locomotion?
5:15pm Organized discussion
5:30pm Poster Session I
7:00pm Dinner

 

Friday, July 9

8:00am Continental breakfast 
Session: Feedback Control II (Moderator: Chris Atkeson)
9:00am Andy Ruina.  Cats, astronauts, trucks, bikes, arrows, and muscle-smarts: Stability, translation, and rotation 
9:45am Ambarish Goswami. Reduced humanoid models possessing centroidal angular momentum
10:10am Coffee break
10:35am Russ Tedrake.  Feedback Motion Planning via Sums-of-Squares Verification
11:20am Emanuel Todorov.  Linearly-solvable optimal control: Theory and applications
11:45pm Organized discussion
12:00pm Lunch
1:15pm Tutorial: System Identification (Ian Manchester)
Session: Biomechanics/Neural Control I (Moderator: Andre Seyfarth) 
2:45pm Gregory Sawicki. Mechanics and control of a compliant muscle-tendon during cyclic contractions
3:10pm Coffee break
3:40pm Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors
4:25pm Monica Daley. Diversity of bipedal locomotion among birds: Insights into the interplay of morphology economy, and stability
4:50pm Waleed Farahat. Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View
5:15pm Organized discussion
5:30pm Break
6:45pm Arrive at dock
7pm-10pm Banquet (Charles River Cruise)

 

Saturday, July 10

8:00am  Continental breakfast 
Session: Modeling, Dynamics, and Control (Moderator: Andy Ruina)
9:00am

Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back
9:45am Katja Mombaur. Using optimal control and complex mechanical models to better understand dynamic walking
10:10am Ian Manchester. Regions of Attraction to Limit Cycles of Nonlinear Hybrid Systems
10:35am Coffee break
11:00am Shai Revzen. Data Driven Floquet Analysis for Biomechanics and Robotics
11:25am Manoj Srinivasan. Observations on the Structure of Optimal Gaits on Various Simple Bipedal Models
11:50am Roland Siegwart. Exploitation of Natural Dynamics in Quadrupedal Locomotion
12:15pm Organized discussion
12:30pm Lunch
1:30pm Poster Session II
Session: Biomechanics and Neural Control II (Moderator: Art Kuo)
3:00pm Richard Marsh. Coordinated action of muscle-tendon systems in the avian hindlimb during walking, running, and jumping
3:45pm Pavitra Krishnaswamy. Efficient Interplay between Human Leg Morphology and Control Resolves Ankle Actuation Redundancies in Walking
4:10pm Coffee break
4:35pm Andre Seyfarth. Stable walking and running: how leg geometry and compliance shapes the way we move
5:00pm Madhusudhan Venkadesan.  Role of endurance running in human evolution, and how we ran without cushioned shoes
5:25pm Organized discussion
5:40pm Break / light refreshments
6:30pm Dinner

 

Sunday, July 11

8:00am Continental breakfast 
Session: Legged Robots (Moderator: Steve Collins)
9:00am Shuuji Kajita. Development of Cybernetic Human HRP-4C - struggle to realize human walking
9:45am Sangbae Kim. Bio-inspired Robot Design for Hyper-Dynamic Locomotion
10:10am Coffee break
10:35am Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds.
11:00am Stefano Stramigioli.  Port-Based Robotics and Variable Impedance Actuators
11:25am Tomomichi Sugihara.  Dynamics Morphing Toward Globally Stable Bipedalism
11:50am Organized discussion
12:05pm Lunch
12:30pm Marc Raibert / Gabe Nelson.  Dynamic Legged Robots at Boston Dynamics  (Lunch talk)
1:30pm Outdoor demonstrations (weather permitting)
2:30pm-5pm Demonstration session