Proceedings
Note that talks are listed in order of the schedule.
A compiled version of the proceedings is available here.
A compiled version of the proceedings is available here.
Block A: Avian Locomotion
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Stephen Gatesy, Robert Kambic, Thomas Roberts | Long-axis rotatoin (LAR): a missing degree of freedom in avian bipedal locomotion |  
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| J.W. Rankin, J. Rubenson, J.R. Hutchinson | Insights gained from a three-dimensional musculoskeletal model into ostrich pelvic limb muscle | |
| Monica Daley | Some observations on leg control for running from experimental data on ground birds | |
Block B: Robots
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Nicolai Konow, Tom Roberts | Series elastic compliance protects actuators during high-powered deceleration | |
| Ioannis Havoutis, Claudio Semini, Jonas Buchli, Darwin Caldwell | Progress in quadrupedal trotting with active compliance | |
| Peter G. Adamczyk, Matthew Robertson, Arthur D. Kuo | RoboFrog? Explosive Power from Elastic Tendons Without Escapements | |
| Harold Roberto Martinez Salazar, Juan Pablo Carbajal | Can we design controllers for bipedal robots based on simple models (templates) of their dynamics? |
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| C. David Remy, Roland Siegwart | Gaits and Energetics in Robotic Locomotion |
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| Jason Cortell, Pranav Bhounsule, Andy Ruina | How one might realize practical, energy-efficient legged robots: lessons learnt from the Cornell Ranger project |
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Sensory Integration Session
| Author | Talk Title | PDF/Video |
|---|---|---|
| Amy Wu, Stephanie Haggerty, Kathleen Sienko, Art Kuo | Heads will roll: Sensory integration model of postural response to lateral visual perturbations |
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| Tim Kiemel, Woei-Nan Bair, Sung-Jae Hwang, John J. Jeka | Closed-loop system identification as a tool to understand re-weighting of sensory information during standing |
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| Herman van der Kooij | Prediction of sensory reweighting and feedback gains in human postural control, and balance recovery in walking by foot placement adjustments |
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| Bob Peterka | Investigating how humans control balance during stance and gait |
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Block C: Muscle and Joints
| Authors | Talk Title | PDF/Video |
|---|---|---|
| John Tester, Sang Hoon Yeo, Dinesh Pai, Klisa Nishikawa | A new muscle model with implications for actuation and control |
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| Christopher Richards, Christofer Clemente | Using musculo-robotics to explore the influences of dynamic mechanical loading on muscle-tendon function |
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| Kamran Shamaei, Gregory Sawicki, Aaron Dollar | Estimation of Quasi-Stiffness of the Knee During Level Ground Walking |
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Block D: Optimization
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Matt Haberland | Extracting Principles from Biology for Application to Running Robots using Optimization |
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| Igor Mordatch, Emanuel Todorov, Zoran Popovic | Discovery of Complex Behaviors through Contact-Invariant Optimization |
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| Yuval Tassa, Tom Erez, Emo Todorov | Synthesis of Robust Bipedal Behavior through Online Trajectory Optimization |
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| Michael Posa, Russ Tedrake | Trajectory Optimization and Control of Rigid Body System Through Contact |
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Block E: Robots
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Katie Byl | Decoupling Foothold Selection from Robustness to Terrain Noise | |
| Fumiya Iida, Murat Reis, Nandan Maheshwari, Xiaoxiang Yu, Amir Jafari | Towards efficient, fast, and versatile running robots based on free vibration |
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| Sangbae Kim | Optimal electromagnetic actuator choices |
Block F: Locomotion Models
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Zhuohua Shen, Justin Seipel | The Fundamental Effects of Hip Torque and Leg Damping on Legged Locomotion Stability |
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| Young-Hui Chang | How do biological systems control complexity and overcome adversity during legged locomotion? | |
| Anne Gutmann, John Bertram | Towards a general cost function for bouncing gaits |
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| Andre Seyfarth | Conceptual models for real locomotion - can we bridge the gap? | |
Poster Session A
| Authors | Title | PDF/Video |
|---|---|---|
| Marco Hutter, Roland Siegwart | Hybrid Operational Space Control for Compliant Quadruped Robots |
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| Michael Bloesch, Marco Hutter, C. David Remy, Roland Siegwart | Consistent Fusion of Leg Kinematics and Inertial Measurements for Legged State Estimation | |
| Xiaofeng Xiong, Florentin Wörgötter, Poramate Manoonpong | An Adaptive Neuromechanical Model for Muscle Impedance Modulations of Legged Robots | |
| Soha Pouya, Mohammad Khodabakhsh, Rico Moeckel, Auke Ijspeert | Role of Spine Compliance and Actuation in the Bounding Performance of Quadruped Robots | |
| Seyed Javad Hasaneini, Chris Macnab, John Bertram, Henry Leung | Dynamic optimization clearly shows the determinants of bipedal gaits: reduced gravity predictions and verification |
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| Sebastian Riese, Andre Seyfarth | Variable-Leg-Spring Hopping with Velocity-Dependent Stiffness | |
| Christian Gehring, Stelian Coros, Roland Siegwart | Towards Dynamic Walking for StarlETH |
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| Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer | Walking control of fully actuated robots based on the Bipedal SLIP model | |
| Yvonne Blum, Monica Daley | Perturbed bipedal running: Identifying control strategies used by guinea fowl | |
| Kazuma Komoda, Hiroaki Wagatsuma | A proposal of the extended mechanism for Theo Jansen linkage to modify the walking elliptic orbit and a study of cyclic base function | |
| Dai Owaki, Hiroki Fukuda, Akio Ishiguro | Soft Deformable Feet Yield Sensory-motor Coordination for Adaptive Bipedal Walking | |
| Hongkai Dai, Russ Tedrake | Optimizing robust trajectories for legged locomotion on rough terrain | |
| Myungkee Kim, Steven Collins | Ankle Controller Design to Enhance Stability Based on Limit Cycle Walker | |
| Katayon Radkhah, Oskar von Stryk | Human-Like Model-Based Motion Generation Combining Feedforward and Feedback Control for Musculoskeletal Robots | |
| Alexander Schepelmann, Michael Taylor, Hartmut Geyer | Towards a Testbed for Robotic Neuromuscular Controllers | |
| Weiwei Huang, Albertus Hendrawan, Chee Meng | A General Framework for Dynamic Walking Control | |
| Matthew Kelly, Andy Ruina | Trying to accomplish standing balance of a simple bipedal robot with small feet |
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| Siyuan Feng, Christopher Atkeson | Planning for Bipedal Locomotion using a Library of Primitives and Trajectory Optimization | |
| Xuechao Chen, Christopher Atkeson, Qiang Huang | Fast Walking Planning using Extended Linear Inverted Pendulum Model on a Force-Controlled Biped Robot | |
| Maiciek Pietrusinski, Iahn Cajigas, Paolo Bonato, Constantinos Mavroidis | Pelvic Obliquity Trajectory Recording with Robotic Gait Rehabilitation (RGR) Trainer and Lower Body Exoskeleton | |
| X Xinjilefu, Christopher Atkeson | State Estimation of a Walking Humanoid Robot | |
| Jeffrey Ackerman, Justin Seipel | Multi-Body Dynamics in Whole-Body Locomotion: Dynamics of Elastically Suspended Loads | |
| Christian Hubicki, Jonathan Hurst | Running on Ditches and Drops: An Optimization-Inspired Control Approach | |
| Alexander Sproewitz, Alexandre Tuleu, Massimo Vespignani, Emilie Badri, Auke Ijspeert | Robot Trotting with Segmented Legs in Simulation and Hardware | |
| Fumihiko Asano | Indicators for Emergence of Double-limb Support in Passive Dynamic Walking |
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| Daniel Ortiz Morales, Pedro Xavier Miranda La Hera | Design of stable walking gaits for biped robots with several underactuated degrees of freedom | |
| Christine Buffiinton, Kathleen Bieryla, Thomas Caso | Analysis of Step Mechanics with Step Length Variation |
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| Jared Markowitz, Hugh Herr | A Data-based Neuromuscular Model of the Leg During Walking | |
| Kreg Gruben, Wendy Boehm | Walking stabilized by body mechanics and heel-to-toe center-of-pressure shift provides insight on control of upright posture |
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| Jacob Shill, Emmanuel Collins, Johnathan Clark | Tactile Terrain Classification Technique for Legged Robots | |
| Pranav Bhounsule, Jason Cortell, Andy Ruina | Cornell Ranger: Implementing energy-optimal trajectory control using low information, reflex based control. | |
| Jin Yeom, Sukyung Park | A gravitational impulse model predicts optimal push-off impulse during walking | |
| Eric Whitman | Walking on the Sarcos Hydraulic Humanoid | |
| Hamid Vejdani, Jonathan Hurst | Flight Phase Control for Actuated SLIP model | |
| Daniel Renjewski | Robotic spring-mass walkers - potential and limitations | |
| Christophe Maufroy, Andre Seyfarth | Dynamic operation of a human-like three-segmented leg during bouncing gaits | |
Block G: Human Walking and Balance
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Manoj Srinivasan | Energetics and stability of human locomotion |
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| Jooeun Ahn, Daniel Klenk, Neville Hogan | The Contribution of Neuro-Mechanical Oscillators to Human Walking: Variability is Essential | |
| Justin Seipel | Towards Dynamic Walking in Musculoskeletal Simulation |
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Block H: Assistive Devices
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Rachel Jackson, Steven Collins | Targeting specific muscles for rehabilitation withan EMG-controlled ankle-foot orthosis |
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| Heike Vallery, Alexander Bögel, Carolyn O'Brien, Dustin Li, Robert Riener | Robotic Assistance for Human Balance |
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| Dominic Farris, Gregory Sawicki | The Effects of Wearing a Spring-Loaded Ankle Exoskeleton on Soleus Muscle Mechanics during Two-Legged Hopping in Humans |
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| Bruce Wiggin, Gregory Sawicki, Steven Collins | A Passive Elastic Ankle Exoskeleton Using Controlled Energy Storage and Release to Reduce the Metabolic Cost of Walking |
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Block I: Robots
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Daniël Karssen, Martijn Wisse | Parallel Stiffness in Running Robots |
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| Michael Slovich, Nicholas Paine, Kevin Kemper Andy Metzger, Aaron Edsinger, Jeff Weber, Luis Sentis | HUME: A Bipedal Robot for Human-Centered Hyper-Agility |
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| Neil Neville and Gabe Nelson | Dynamic Bipedal Robots at Boston Dynamics |
Block J: Locomotion Strategies
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Letian Wang, Edwin E.H.F van Asseldonk, Herman van der Kooij | Stable and versatile bipedal locomotion using Real Time Model Predictive Control |
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| Ludovic Righetti, Stefan Schaal | Inverse dynamics with optimal distribution of contact forces for the control of legged robots |
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| Keonyoung Oh, Joohyun Baek, Jae-Kwan Ryu, Sukyung Park | Is push-off propulsion the winning strategy for energy efficient gait acceleration? |
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| Jesse Dean | A foot placement strategy for the active control of gait stability |
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| Noah Cowan | Identification of Feedback Controllers in Locomoting Animals | |
Block K: Human Running
| Authors | Talk Title | PDF/Video |
|---|---|---|
| M. Mause, S. Revzen, J.J. Guckenheimer | Drift and deadbeat control in the Floquet structure of human running |
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| Albert Wu, Hartmut Geyer | Deadbeat Running and Steering in 3D Environments |
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| Tudor Comanescu, John Enyeart, Clinton Barnes, John Bertram, David Lee | Collision-based analysis of walking versus running in humans |
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| M. Mert Ankarali, Noah J. Cowan, Uluc Saranli | TD-SLIP: A Better Predictive Model for Human Running |
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Poster Session B
| Authors | Title | PDF/Video |
|---|---|---|
| Chang Keun Jung, Sukyung Park | A compliant bipedal model with underground pivot explains COP excursion |
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| Pierre Cherelle, Arnout Matthys, Victor Grosu, Bram Vanderborght, Dirk Lefeber | The Ankle Mimicking Prosthetic (AMP-) Foot 2.0 | |
| Xiao-Yu Fu, Karl Zelik, Wayne Board, Raymond Browning, Arthur Kuo | Soft tissue work during walking: An energy conserving mechanism for obese adults? | |
| Simon Wilshin, Monica Daley | The search for universal parameters for describing bipedal gaits | |
| Petr Zaytsev | Control concepts for walking based on point-mass 3D models | |
| Carlotta Mummolo, Chang B. Joo, Joo H. Kim | Dynamic Gait Measure for Biped Walking of Robots and Humans | |
| Alexandra Voloshina, Daniel Ferris, Arthur Kuo | How should an oscillator best adapt to legged motion dynamics? | |
| G. Clark Haynes, Jason Pusey, Ryan Knopf, Daniel E. Koditschek | Dynamic Bounding with a Passive Compliant Spine | |
| Ozer Unluhisarcikli, Paolo Bonato, Constantinos Mavroidis | Patient-cooperative gait neuro-rehabilitation with the lower-extremity exoskeleton ANDROS | |
| Sylvain Bertrand, Olivier Bruneau | Simulation of Highly Dynamic Locomotion with a Bipedal Robot: A Fast Running Algorithm |
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| Michael McGrath, Richard Baker, David Howard | To what extent can a driven double inverted pendulum model of human gait explain the joint kinematics and kinetics of single support? |
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| Peter Neuhaus, Jerryll Noorden | Mina exoskeleton. | |
| Johnny C Godowski, Sebastien Cotton, Jerry E Pratt, Ionut M Olaru | Comparing Performance of Running Robots: Gravity, Size, Speed and Stride as Metrics for Dynamic Performance | |
| Sebastien Cotton, Johnny Godowski, Ionut Olaru, Jerry Pratt | Bipedal Running: When Leg Architecture Influences Speed, Efficiency and Robustness |
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| Tzu-wei Huang, Art Kuo | Can mechanical work performed on the body center of mass explain the metabolic cost of walking with a carried load? | |
| Chenglong Fu, John Rebula, Osman Darici, Art Kuo | Analysis of capturability for biped robots subject to limited swing torques | |
| David Lee, Theodore Uyeno | Combining in vivo X-ray motion and force data to determine dynamic joint | |
| Robert Kambic, Thomas Roberts, Stephen Gatesy | Six Degree of Freedom Range of Motion in Guineafowl | |
| Leroy Long, Manoj Srinivasan | Realistic gait transitions: experiment and theory | |
| John Rebula, Peter Adamczyk, Lauro Ojeda, Arthur Kuo | Long Term Measurement of Spontaneous Walking with Foot Mounted Inertial Sensors | |
| Yang Wang, Manoj Srinivasan | System identification and stability analyses of steady human locomotion | |
| Nathaniel Skinner, Karl Zelik, Arthur Kuo | Why make more work for yourself? Factors beyond maximizing economy of movement | |
| Pieter van Zutven, Henk Nijmeijer | Balance of humanoid robots by proper foot placement | |
| Dai Owaki, Leona Morikawa, Akio Ishiguro | Gait Transition of Quadruped Robot without Interlimb Neural Connectivity | |
| Seyed Hadi Salehi | Gait Prediction | |
| Sumin Park, Jaeheung Park, Minho Lee | How to generate natural female walking with high heels? | |
| Joohyung Kim | Balancing and Walking Control for a Torque-Controlled Humanoid Robot | |
| Shiqian Wang | Efficient lightweight series elastic actuation for an exoskeleton joint | |
| Murali Pasupuleti, Shishir Nadubettu Yadukumar, Aaron Ames | Human-Inspired Bipedal Robotic Walking: From Theory to Experimental Implementation on AMBER | |
| Mikhail Jones, Jonathan Hurst | Effects of Leg Configuration on Running and Walking Robots | |
| Jesse Grimes, Jonathan Hurst | ATRIAS 2.0: A human-scale, actuated spring-mass robot | |
| Maziar Sharbafi, Mohammad Yazdanpanah, Majid Ahmadabadi, Christophe Maufroy, Andre Seyfarth | Switching from hopping to running with HZD controller | |
Block L: Biomechanics, Control, and Physiological Mechanisms
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Jonathan Matthis, Brett Fajen | Humans exploit the biomechanics of bipedal gait during visually guided walking over rough terrain |
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| Devin Jindrich, Mu Qiao | Active Control of Unsteady Legged Locomotion |
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| Shawn O'Connor/Donelan Lab | Physiological mechanisms underlying precition and optimization of metabolic cost during walking |
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Block M: Walking
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Karl Zelik, Tzu-Wei Huang, Peter Adamczyk, Arthur Kuo | All spring, no fall, a simulation study on the benefits, trade-offs, and limitations of ankle elasticity in walking |
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| Alexandra Voloshina, Arthur Kuo, Monica Daley, Daniel Ferris | Biomechanical and energetic consequences of walking on uneven terrain |
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| Christopher Arellano, Matthew Beale, Rodger Kram | Arm Swing During Human Walking: Active and Passive Contributions to a Hybrid System |
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Block N: Assistive Devices
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Kevin Hollander, Preston Clouse, Nathan Cahill, Alexander Boehler, Thomas Sugar, Adarsh Ayyar | Design of the Orthotic Load Assistance Device (OLAD) | |
| Benjamin Robertson, Gregory Sawicki | Influence of Exoskeleton Compliance and Neural Control Strategy on Ankle Muscle-Tendon Interaction Dynamics During Simulated Human Hopping |
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| Robert Gregg, Jon Sensinger | From Machine to Biomimetic Control of Powered Prosthetic Legs |
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| Tim Swift et al. | Ekso Bionics |
Tutorials
| Authors | Talk Title | PDF/Video |
|---|---|---|
| Tom Roberts, Robert Kambic, Dominic Farris, David Lee | Direct Measurement Techniques to Characterize Musculoskeletal Performance in Animals and Humans | |
| Russ Tedrake | Optimization Methods for Dynamic Walking |