Program Details
Sunday, 9 June |
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| 18:00 - 21:00 | Casual Welcome Dinner - Atkeson Residence | ||
| Time | Description | |
|---|---|---|
| 18:00 | Festivities will start around 6:00 on Sunday at host Chris Atkeson's place (@ 5031 Castleman Street). Food and drinks will be served. Stop by and say hello when you get into town - map | |
Monday, 10 June |
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| 9:00 - 10:00 | Coffee and Snacks - Rashid Atrium | ||
| Time | Description | |
| 9:00 | Coffee, fruit, and baked goods. Arrive a little early to fuel up for the day. | |
| 10:00 - 11:00 | Keynote Speaker - Rashid Auditorium | ||
| Time | Presenter | Title |
| 10:00 | Jun-Ho Oh | Realization of biped walking on humanoid robot, Hubo II - PDF - Video |
| 11:00 - 11:10 | Coffee Break - Rashid Atrium | ||
| Time | Description | |
| 11:00 | Coffee, fruit, and baked goods. Pop out for a bite, but note that the next talks will start exactly on schedule. | |
| 11:10 - 12:50 | 10&10 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 11:10 | Chris Schmidt-Wetekam | Capturability-based control of dynamic scrambling with multiple contacts on rough terrain - PDF - Video |
| 11:30 | Andy Ruina | Controllability and viability: a look at robustness of walking - PDF - Video |
| 11:50 | S. Javad Hasaneini | Seven reasons to brake the swing leg just before heel strike - PDF - Video |
| 12:10 | John Rebula | Control mechanisms of lateral balance during human walking - PDF - Video |
| 12:30 | Heike Vallery | Balancing on slacklines: modeling and empirical evaluation - PDF - Video |
| 12:50 - 15:00 | Lunch + Lab Tours + Sport - 6th floor of Gates-Hillman Center and Various Locations | ||
| Time | Description |
|
| 12:50 |
Head up to the 6th floor for a buffet lunch and a good conversation on the balcony. |
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| 12:50 |
Lab Tours: Follow the 'Pied Piper', who will continually walk between the registration desk at Rashid Auditorium and the Laboratories on the first floor of Wean Hall. Included in Monday's demos are: Ankle-Foot Orthosis Emulator - Rachel Jackson - Attendees are invited to take a walk in our tethered Exo Sarcos Humanoid - Eric Whitman - Push recovery and walking in place using optimal control ATRIAS Biped - William Martin - See the latest actuated spring-mass robot walking Robotic Swing-Leg Testbed - Alex Schepelmann - Check out this compliant, multi-articulated, bio-inspired leg |
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| 12:50 |
Slacklining: Head up to "the Cut" to try your hand at slacklining, putting Heike Vallery's ideas to the test ;) The rope will be up for the duration of lunch. Thanks to CMU student Allen Miller for volunteering his kit. |
|
| 1:30 |
Phipps Conservatory: Phipps is a nice botanical garden just off campus - site - map. Our guide will depart from the registration desk to Phipps at 1:30, after you've had a chance to get lunch. |
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| 1:30 |
Schenley Park Walk: Schenley is a nice wooded park just off campus - site - map. Our guide will depart from the registration desk at 1:30, after you've had a chance to get lunch, and lead a nice stroll through the trails. |
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| 15:00 - 17:00 | Tutorial - Simulation and Optimization Using MuJoCo - Rashid Auditorium | ||
| Time | Presenter | Description |
| 15:00 | Emo Todorov, Tom Erez and Yuval Tassa |
Simulation and optimization with MuJoCo Download tutorial materials at: www.mujoco.org Please bring a laptop with MATLAB installed (32 or 64 bit). Since MuJoCo makes extensive use of mouse buttons and features, participants with laptops are encouraged to bring an external mouse. MuJoCo also supports Logitech's SpaceNav. |
| 17:00 - 19:00 | Tutorial - Musculoskeletal Simulation Using OpenSim - 6115 Gates-Hillman Center | ||
| Time | Presenters | Description |
| 17:00 | Ajay Seth, Daniel Jacobs, Chris Dembia, and Scott Delp |
The workshop will feature an overview of OpenSim software and an exercise to simulate dynamic walkers in OpenSim. No prior OpenSim experience is required. More information at: OpenSim Tutorial Announcement Download and install tutorial materials: workshop page Interested participants should either bring a PC laptop with OpenSim 3.1 DW and MATLAB installed, or be prepared to team up with another participant. Workshop materials, including step-by-step instructions, OpenSim models and handy MATLAB scripts, are available from the workshop page . Please direct workshop questions to Ajay Seth, aseth@stanford.edu, and general OpenSim inquiries to opensim@stanford.edu |
| 19:00 - 22:00 | Study Hall - 6th floor of Gates-Hillman Center | ||
| Time | Description | |
| 19:00 | Pizza and beer. Continue your tutorial exercises undergrad style, or just hang around to continue a good conversation. | |
| 20:00 - 21:00 | Program Manager Session - Rashid Auditorium | ||
| Time | Presenters | Description |
| 20:00 | George Chiu, NSF | The National Robotics Initiative and Beyond |
| 20:30 | Gill Pratt, DARPA | DARPA Robotics Challenge and Beyond |
Tuesday, 11 June |
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| 9:00 - 10:00 | Coffee and Snacks - Rashid Atrium | ||
| Time | Description | |
| 9:00 | Coffee, fruit, and baked goods. Arrive a little early to fuel up for the day. | |
| 10:00 - 11:00 | Keynote Speaker - Rashid Auditorium | ||
| Time | Presenter | Title |
| 10:00 | Andy Schwartz | Recent progress toward high-performance neural prosthetics - PDF - Video |
| 11:00 - 11:10 | Coffee Break - Rashid Atrium | ||
| Time | Description | |
| 11:00 | Coffee, fruit, and baked goods. Pop out for a bite, but note that the next talks will start exactly on schedule. | |
| 11:10 - 12:50 | 10&10 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 11:10 | Robert Gregg | The hypothesis of feedback pattern generation in human locomotion - PDF - Video |
| 11:30 | Seungmoon Song | Robust 3D locomotion in simulation using primarily reflex control - PDF - Video |
| 11:50 | Doug Weber | Development of a sensory neuroprosthesis for artificial limbs - PDF - Video |
| 12:10 | Carmel Majidi | Soft electronic skin for assistive wearable technologies - PDF - Video |
| 12:30 - 14:30 | Lunch + Lab Tours + Sport - 6th floor of Gates-Hillman Center and Various Locations | ||
| Time | Description |
|
| 12:30 |
Head up to the 6th floor for a buffet lunch and a good conversation on the balcony. |
|
| 12:30 |
Lab Tours: Follow the 'Pied Piper', who will continually walk between the registration desk at Rashid Auditorium and the Laboratories on the first floor of Wean Hall. Included in Tuesday's demos are: Ankle-foot Prosthesis Emulator - Josh Caputo - Attendees are invited to take a walk while wearing a robot Sarcos Humanoid - Eric Whitman - Push recovery and walking in place using optimal control ATRIAS Biped - William Martin - See the latest actuated spring-mass robot walking Robotic Swing-Leg Testbed - Alex Schepelmann - Check out this compliant, multi-articulated, bio-inspired leg |
|
| 1:00 |
Soccer: Sport enthusiasts are encouraged to join in a friendly game of soccer! Our guide will depart from the registration desk to the soccer field at 1:00, after you've had a chance to grab lunch. There are showers in the University Center, and we've made arrangements for attendees to have access, so feel free to bring a change of clothes if you like. |
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| 14:30 - 15:30 | 5&0 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 14:30 | Jared Markowitz | A data driven neuromuscular model of the leg during walking - PDF - Video |
| 14:36 | Benjamin Robertson | A bio-robotic framework for rapid prototyping and testing of exoskeletons assisting compliant muscle-tendon systems - PDF - Video |
| 14:42 | Shai Revzen | Pinned equilibria provide robustly stable multilegged locomotion - PDF - Video |
| 14:48 | Andre Seyfarth | Novel leg adjustment approach for hopping and running - PDF - Video |
| 14:54 | Alexander Sproewitz | Use your spine! Effect of active spine movements on horizontal impulse and cost of transport in a bounding, quadruped robot - PDF - Video |
| 15:00 | Jun-tian Zhang | Inter-limb energy transfer on mechanics and energetics of walking - PDF - Video |
| 15:06 | K. Alex Shorter | The high cost of swing leg circumduction during gait - PDF - Video |
| 15:12 | Alaa Ahmed | Is there a reaching speed that minimizes metabolic cost? - PDF - Video |
| 15:18 | Jessica Selinger | Estimating metabolic cost during non-steady state walking - PDF - Video |
| 15:24 | Rachel Jackson | Manipulating self-selected gait patterns with an adaptive exoskeleton - PDF - Video |
| 15:30 - 17:30 | ePosters - 6th Floor of Gates-Hillman Center | ||
| Time | Presenter | Title |
| 15:30 | All 5&0 Presenters | Various titles - see above |
| 15:30 | Mark Vlutters | Orbital energy based foot placement during gait in a 3D linear inverted pendulum model with foot - PDF |
| 15:30 | Andre Seyfarth | Balance control is simplified by musculoskeletal leg design - PDF |
| 15:30 | Soha Pouya | Dynamics modeling and control architecture for efficient manoeuvrable and robust monoped hopping over rough terrain - PDF |
| 15:30 | Dai Owaki | What is the key to postural stabilization of bipedal walking? - PDF |
| 15:30 | Jonathan Matthis | Visual control of precise foot placement when walking over complex terrain - PDF |
| 15:30 | Matthew Kelly | A reflex based controller for walking robots - PDF |
| 15:30 | Aaron Johnson | Robot parkour: The ground reaction complex & dynamic transitions - PDF |
| 15:30 | Christian Gehring | Controlling dynamic gaits for quadrupedal robots - PDF |
| 15:30 | Péter Fankhauser | Reinforcement learning of robotic legged locomotion - PDF |
| 15:30 | Fu Chunjiang | Floquet stability of 7-link footed biped compliant walking - PDF |
| 15:30 | Michael Blösch | Kinematic calibration and sensor fusion for legged robots - PDF |
| 15:30 | Huseyin Celik | Simulation of aperiodic sprinting with a spring-loaded inverted pendulum model - PDF |
| 15:30 | Mansoor Alghooneh | Validation and stability analysis of an advanced model of a passive dynamic robot - PDF |
| 15:30 | Mansoor Alghooneh | Effects of compliant ankles and premature heel-off in flat-feet limit cycle walkers - PDF |
| 15:30 | Alexander Schepelmann | A synthesis method for compact nonlinear springs with custom torque-deflection profiles and bandwidth for series elastic actuators - PDF |
| 15:30 | Giulia Piovan | Actuated SLIP model: Partial feedback linearization and two-part control strategy - PDF |
| 18:00 - 20:00 | Plenary Reception - Carnegie Museum of Natural History | ||
| Time | Description | |
| 18:00 | The standing reception will be held in the Foyer of the Carnegie Museum of Art. Dinner and drinks will be provided, including vegan options. Dynamic Walking participants will be able to view the excellent dinosaur exhibit in the adjacent Museum of Natural History - map | |
| 20:00 - 21:00 | Plenary Lecture - Carnegie Music Hall | ||
| Time | Presenter | Description |
| 20:00 | Scott Delp |
Insights from simulating gait dynamics and disorders
- PDF
- Video
The plenary session will be held at Carnegie Music Hall, with about an hour of lecture and half an hour of questions and discussion. The event is free and open to the public - map |
Wednesday, 12 June |
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| 9:00 - 10:00 | Coffee and Snacks - Rashid Atrium | ||
| Time | Description | |
| 9:00 | Coffee, fruit, and baked goods. Arrive a little early to fuel up for the day. | |
| 10:00 - 11:00 | Keynote Speaker - Rashid Auditorium | ||
| Time | Presenter | Title |
| 10:00 | William Warren | Behavioral dynamics of visually-guided locomotion - PDF - Video |
| 11:00 - 11:10 | Coffee Break - Rashid Atrium | ||
| Time | Description | |
| 11:00 | Coffee, fruit, and baked goods. Pop out for a bite, but note that the next talks will start exactly on schedule. | |
| 11:10 - 12:50 | 10&10 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 11:10 | Jessy Grizzle | Progress on controlling MARLO, an Atrias-series 3D underactuated bipedal robot - PDF - Video |
| 11:30 | Metin Sitti | Highly dynamic bio-inspired legged running on water surface - PDF - Video |
| 11:50 | Max Donelan | Scaling of sensorimotor control: delays make robot control strategies irrelevant to biology - PDF - Video |
| 12:10 | Tzu-wei Huang | Mechanics and energetics of walking with restricted ankle plantarflexion - PDF - Video |
| 12:30 | Philippe Malcolm | A simple exoskeleton that assists plantarflexion can reduce the metabolic cost of human walking - PDF - Video |
| 12:50 | Josh Caputo | Optimal push-off work for robotic ankle-foot prostheses - PDF - Video |
| 13:10 - 15:00 | Lunch - 6th floor of Gates-Hillman Center | ||
| Time | Description | |
| 13:10 | Head up to the 6th floor for a buffet lunch and a good conversation on the balcony. | |
| 15:00 - 16:00 | 5&0 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 15:00 | Amy Wu | Model of lateral stabilization during one-legged quiet standing - PDF - Video |
| 15:06 | Sue Park | CoP location may serve as a temporal indicator for foot placement in bipedal walking simulation - PDF - Video |
| 15:12 | Rick Cory | Comparing foot placement strategies for planar bipedal walking - PDF - Video |
| 15:18 | Peter Adamczyk | Long-term measurement of foot placement during walking using IMUs - PDF - Video |
| 15:24 | Jonathan Dingwell | Preserved stride-to-stride control in healthy elderly despite increased locomotor variability - PDF - Video |
| 15:30 | Jesse Matsubara | Simple tools to measure locomotor stability and maneuverability - PDF - Video |
| 15:35 | Justin Seipel | A theoretical explanation for the relative leg stiffness of animals - PDF - Video |
| 15:40 | Dai Owaki | Why do quadrupeds exhibit exclusively either trot or pace gaits? - PDF - Video |
| 15:45 | Tommaso Lenzi | A simulation framework for the concurrent optimization of passive and active components of lower-limb powered prostheses - PDF - Video |
| 15:50 | David Logan | Studying sensory reweighting in human walking from a controls perspective - PDF - Video |
| 15:55 | Sangbae Kim | The MIT cheetah robot runs fast and efficiently - PDF - Video |
| 16:00 - 18:00 | ePosters - 6th Floor of Gates-Hillman Center | ||
| Time | Presenter | Title |
| 16:00 | All 5&0 Presenters | Various titles - see above |
| 16:00 | Zhuohua Shen | Effects of open-loop leg forcing in rotary and radial directions - PDF |
| 16:00 | Nelson Rosa | Open-loop stability of time-based vs. event-based switching in locomotion - PDF |
| 16:00 | Aida Rashty | Role of biarticular muscles during the swing phase of walking - PDF |
| 16:00 | Jeremy Petak | A new muscle model for neuro-musculo-skeletal simulations - PDF |
| 16:00 | Danyal Mirmokhalesouni | Hybrid zero dynamic control approach for a curved foot bipedal SLIP - PDF |
| 16:00 | Myunghyun Lee | Leg stiffness increases with load to achieve resonance-based CoM oscillation - PDF |
| 16:00 | Dustyn Roberts | Predictive joint space model of human energy expenditure during gait - PDF |
| 16:00 | Ioannis Havoutis | Virtual model control for quadrupedal trunk stabilization - PDF |
| 16:00 | Xiao-Yu Fu | The role of body rotations in control of lateral balance during walking - PDF |
| 16:00 | Joseph Cusumano | On the role of perception in regulating stride-to-stride walking dynamics - PDF |
| 16:00 | Samuel Burden | From anchors to templates: Exact and approximate reduction in models of legged locomotion - PDF |
| 16:00 | Nitish Thatte | Angular motion control using a closed-loop CPG for a water-running robot - PDF |
| 16:00 | Mahdi Agheli | Scalable six-legged ambulating robot with foot force-based reactive stability - PDF |
| 16:00 | Mojtaba Azadi | Variable compliance robotic joint - PDF |
| 16:00 | Youngmok Yun | Synthesis of gait kinematics using a database - PDF |
| 16:00 | Ruta Desai | Muscle reflex control of robust swing leg placement - PDF |
| 16:00 | Petr Zaytsev | Controllability and viability: a look at robustness of walking - PDF |
| 16:00 | Cenk Oguz Saglam | "Metastable Walking of the Five-Link Biped on Stochastically Rough Terrain - PDF |
| 16:00 | Ryan Riddick | The effect of step height disturbance on step - PDF |
| 18:30 - 21:30 | Barbecue - Schenley Park | ||
| Time | Description | |
| 18:30 | Festivities will be held at the Vietnam Veteran's Pavilion in Schenley Park. The menu includes typical BBQ fare, good beer, and vegan-friendly items. It's a 15 minute walk from Gates - map | |
Thursday, 13 June |
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| 9:00 - 10:00 | Coffee and Snacks - Rashid Atrium | ||
| Time | Description | |
| 9:00 | Coffee, fruit, and baked goods. Arrive a little early to fuel up for the day. | |
| 10:00 - 11:00 | Keynote Speaker - Rashid Auditorium | ||
| Time | Presenter | Title |
| 10:00 | Emo Todorov | Dynamic optimization of behavior - PDF - Video |
| 11:00 - 11:10 | Coffee Break - Rashid Atrium | ||
| Time | Description | |
| 11:00 | Coffee, fruit, and baked goods. Pop out for a bite, but note that the next talks will start exactly on schedule. | |
| 11:10 - 12:50 | 10&10 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 11:10 | Marco Hutter | Multi-task inverse dynamics based on LS-optimization - PDF - Video |
| 11:30 | Ton van den Bogert | Task-based trajectory optimization in musculoskeletal systems - PDF - Video |
| 11:50 | Sam Walcott | Progress towards an accurate molecular muscle model - PDF - Video |
| 12:10 | Manoj Srinivasan | Walking dynamics from walking steady state - PDF - Video |
| 12:30 | Gelsy Torres-Oviedo | Analytical decomposition of gait kinematics reveals spatial and temporal sources of step length asymmetry post-stroke - PDF - Video |
| 12:50 - 14:30 | Lunch - 6th floor of Gates-Hillman Center | ||
| Time | Description | |
| 12:50 | Head up to the 6th floor for a buffet lunch and a good conversation on the balcony. | |
| 14:30 - 15:30 | 5&0 Talks - Rashid Auditorium | ||
| Time | Presenter | Title |
| 14:30 | Jeff Nessler | Properties of the phase resetting curve for human gait - PDF - Video |
| 14:36 | Tim Kiemel | Characterizing perturbations of human walking in the frequency domain - PDF - Video |
| 14:42 | Wietse van Dijk | Kinetic and kinematic adaptation to walking with a passive exoskeleton - PDF - Video |
| 14:48 | Myunghee Kim | Ankle push-off is just as important as foot placement in stabilizing 3D walking - PDF - Video |
| 14:54 | Kota Takahashi | Functional interaction between ankle joint and distal foot structures during locomotion - PDF - Video |
| 15:00 | Christian Hubicki | From ostrich to quail: A simple unified model of ground-bird running - PDF - Video |
| 15:05 | Martin Görner | A sagittal plane hexapedal running model: Towards robust locomotion with feed forward actuated serial elastic hips and serial elastic telescoping legs - PDF - Video |
| 15:10 | Hae-Won Park | Impulse-based gait design and control for variable speed galloping on MIT cheetah robot - PDF - Video |
| 15:15 | Shishir Kolathaya | Human-inspired walking in AMBER 1.0 and AMBER 2.0 - PDF - Video |
| 15:20 | Wouter Wolfslag | Towards open loop stable manipulators - PDF - Video |
| 15:25 | Daniel Renjewski | ATRIAS - a human size compliant bipedal robot walks efficiently - PDF - Video |
| 15:30 - 17:30 | ePosters - 6th Floor of Gates-Hillman Center | ||
| Time | Presenter | Title |
| 15:30 | All 5&0 Presenters | Various titles - see above |
| 15:30 | Hamid Vejdani | Swing leg control of spring-mass running robots using leg length and leg angle - PDF |
| 15:30 | Jonathan Spitz | Bio-inspired controllers for dynamic walking: CPG enhanced with minimal feedback - PDF |
| 15:30 | Nima Shafii | Towards fast walking based on ZMP control and central pattern generators - PDF |
| 15:30 | Chang Joo | Dynamically equivalent mechanism and criteria for multi-segmental balancing - PDF |
| 15:30 | Michael Posa | Stability analysis of discontinuous systems with impacts and friction via sums-of-squares - PDF |
| 15:30 | Igor Mordatch | Human motion synthesis using contact-invariant optimization - PDF |
| 15:30 | Anne Martin | Modeling human walking with HZD-based control and impulsive toe-off - PDF |
| 15:30 | Takeshi Kano | Considering snake locomotion with "continuum legs" - PDF |
| 15:30 | Yan Huang | Torque-stiffness-controlled dynamic walking - PDF |
| 15:30 | Zhenyu Gan | A simplistic model for quadrupedal walking and trotting - PDF |
| 15:30 | Benham Dadashzadeh | Controlling the spring-mass running robots during the stance phase - PDF |
| 15:30 | Gustavo Báez | Double support phase analysis and ZMP calculation from restriction forces - PDF |
| 15:30 | Mostafa Ajallooeian | Towards modular control for moderately fast locomotion over unperceived rough terrain - PDF |
| 15:30 | Bruce Wiggin | Spring stiffness affects energy cost during walking with a clutched ankle-foot orthosis - PDF |
| 15:30 | Mark Kingsbury | Sensitivity of foot intrusion kinematics during walking on granular media - PDF |
| 15:30 | Ivanka Nikolova | Learning to walk dynamically: optimal control parameterization - PDF |
| 17:30 - 19:00 | Robot Hardware Demonstrations - Gates-Hillman Center and Various Locations | ||
| Time | Description | |
| 17:30 |
A fleet of humanoids and rehabilitation platforms will be on display in this public event, and participants are encouraged to bring their own hardware. Hardware Demos: Portable robots and devices will be on display on the 6th floor of Gates-Hillman Center, including: Cruise Control app treadmill demo - Max Donelan IMU-based foot placement monitoring - Peter Adamczyk & John Rebula AFO with EMG-controlled clutch - Bruce Wiggin & Greg Sawicki Snake robots - Andrew Willig & Howie Choset Soft sensors for exoskeletons - Carmel Majidi Underactuated robotic gait trainer mockup - Heike Vallery Robotic prosthesis with inv-eversion control - Tianyao Chen Selectively-compliant AFO - Juanjuan Zhang CoBot - Brian Coltin & Manuela Veloso - on the 7th floor of Gates-Hillman Center Lab Tours: Follow the 'Pied Piper', who will continually walk between the 6th floor and various demo locations, including: Miles, Disney's walking robot - Rick Cory - in the Planetary Robotics Lab on the first floor of Gates Ballbot - Mike Shomin & Ralph Hollis - in the Microdynamic Systems Lab in 114 Smith Hall Panoptic Studio - Hanbyul Joo, Lin Gui, & Yaser Sheikh - in B510 Newell Simon Hall NAO soccer robots - Som Liemhetcharat & Manuela Veloso - in CORAL Research, Gates-Hillman 3201 Baxter - Yichao Sun & Manuela Veloso - in CORAL Research, Gates-Hillman 3201 Jumping-gliding robots - Matthew Woodward & Metin Sitti - in the NanoRobotics Lab, Hamerschlag D308 Flapping micro-robots - Lindsey Hines & Metin Sitti - in the NanoRobotics Lab, Hamerschlag D308 |
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| 19:00 - 22:00 | Dinner in the 'Burgh - Shuttles from CMU to Various Neighborhoods | ||
| Time | Description | |
| 19:00 | From around 7:00 until 10:00 on Thursday evening, trolleys will shuttle between campus and the Downtown and Shadyside neighborhoods of Pittsburgh. Participants are encouraged to make plans and reservations on their own. Some of our favorite restaurants are listed on the venue page - map | |