Abstracts
Here are all the submitted abstracts. If you'd like to cite these abstracts, you could use the abstract number as a nominal page/paper number. The abstract numbers may change slightly until the conference.
Abstract 1: Footstep Control for the NAO Humanoid Robot using the Extrapolated Center of Mass. Sabrina Abram, Antonie J. van den Bogert. PDF.
Abstract 2: Reconstructing the Unusual Gait Events in Everyday Life. Peter Adamczyk, Lauro Ojeda and Arthur Kuo. PDF.
Abstract 3: Walkers use visual information about distance between target footholds to initialize the upcoming step. Sean Barton, Jonathan Samir Matthis and Brett Fajen. PDF.
Abstract 4: Dynamic Trotting on Inclined Terrain for Quadrupedal Robots. C. Dario Bellicoso, Christian Gehring, Stelian Coros, Marco Hutter and Roland Siegwart. PDF.
Abstract 5: A disturbance emulation system for stability and recovery testing. Blair Emanuel, Steven Collins. PDF.
Abstract 6: Bounding, jumping, turning and stopping with a small, low-cost quadrupedal robot (+hardware). Will Bosworth, Michael Farid, Deborah Ajilo, Sangbae Kim, and Neville Hogan. PDF.
Abstract 7: Ein: A Modular Robotic Leg (hardware). Roberts Brothers, Raquel De La Garza, Sebastian Sanchez, Christian Trevino, Pranav A. Bhounsule. PDF.
Abstract 8: Direct Trajectory Optimized Walking Gaits Implemented on a Planar Biped Via Virtual Constraints. Travis Brown, Jim Schmiedeler. PDF.
Abstract 9: Near-Simultaneous Footfalls Lend Stability to Multi-Legged Gaits. Samuel Burden, S. Shankar Shastry, Daniel E. Koditschek, and Shai Revzen. PDF.
Abstract 10: Optimizing prosthesis design to maximize user satisfaction using a tethered robotic ankle-foot prosthesis. Joshua Caputo, Peter Adamcyzk and Steven Collins. PDF.
Abstract 11: Inversion-Eversion Stiffness of Ankle-Foot Prosthesis Affects Amputees Balance-Related Effort during Walking. Tianjian Chen, Myunghee Kim, Tyler S. Del Sesto and Steven H. Collins . PDF.
Abstract 12: Perturbation rejection in bipedal walking models: energetic optimality predicts human-like responses. Barrett Clark, Yang Wang and Manoj Srinivasan. PDF.
Abstract 13: Mechanics and energetics of exoskeletons and prostheses. Steven Collins. PDF.
Abstract 14: Determination of the characteristic features of elderly gait for optimal posture recovery using robotic assistive devices. Davide Corradi, Khai-Long Ho Hoang, Sascha Delbasteh, and Katja Mombaur. PDF.
Abstract 15: Efficient and agile open-source bipedal robot. Jason Cortell, Andy Ruina. PDF.
Abstract 16: Haptic feedback enhances rhythmic motor control by reducing variability, not improving convergence rate. Noah Cowan. PDF.
Abstract 17: Beware of the bump: Optimal strategy to traverse a step height perturbation. Osman Darici , H. Temeltas and A. D. Kuo. PDF.
Abstract 18: Active Surface Matching Control using an Ankle-Foot Prosthesis Emulator with Two Axes of Torque Control. Tyler Del Sesto, Myunghee Kim, Tianjian Chen, and Steven H. Collins. PDF.
Abstract 19: A Simple Model of Skill Acquisition in a Dynamic Balance Task. Ruta Desai, Jessica Hodgins. PDF.
Abstract 20: Running on rough terrains: Energetics and stability. Nihav Dhawale, Shreyas Mandre and Madhusudan Venkadesan. PDF.
Abstract 21: Clutching with High Force, High Bandwidth, Low Mass, and Low Energy Consumption using Electrostatics. Stuart Diller, Carmel Majidi, and Steven Collins. PDF.
Abstract 22: Control Models of Lateral Stepping in Human Walking. Jonathan Dingwell, Jonathan H. Rylander, Joseph P. Cusumano, and Jason M. Wilken. PDF.
Abstract 23: Why do animals outperform their robot counterparts?. Max Donelan. PDF.
Abstract 24: Enchanced Torque Controlled Balancing through Multimodal Sensor Fusion based on an Extended Kalman Filter. Jorhabib Eljaik, Naveen Kuppuswamy, Daniele Pucci and Francesco Nori. PDF.
Abstract 25: A comparison between control strategies for balancing with an actuated ankle orthosis: preliminary simulation results. Amber Emmens, Gijs van Oort, Edwin van Asseldonk and Herman van der Kooij . PDF.
Abstract 26: Biologically inspired dead-beat controller for bipedal running in 3D. Johannes Englsberger, Pawel Kozlowski, Christian Ott. PDF.
Abstract 27: Walking Metabolic Cost of Transtibial Amputee at Slow Speed Using Robotic Prosthesis with Damping Behaviors. Yanggang Feng, Baojun Chen, Tianshuo Huang, and Qining Wang . PDF.
Abstract 28: Temporal Interactions between Stability and Energetics during Human Locomotor Learning. James Finley, Sung-woo Park. PDF.
Abstract 29: Slip Recovery for Quadruped Robots. Michele Focchi, Darwin Caldwell and Claudio Semini. PDF.
Abstract 30: Design of an Agonist-Antagonist Knee Prosthesis for Experiments in Human Locomotion. James Gabriel, Steven Collins. PDF.
Abstract 31: A Model Based Velocity Study of Walking and Trotting Horses. Zhenyu Gan , C. David Remy. PDF.
Abstract 32: Local Stability of A Flat-Foot Biped with Ankle Compliance under Energy Shaping Control. Yue Gao, Yan Huang and Qining Wang. PDF.
Abstract 33: An Optimization Approach to Controlling Jump Maneuvers for a Quadrupedal Robot. Christian Gehring, Stelian Coros, Marco Hutter, and Roland Siegwart. PDF.
Abstract 34: A Neuromuscular Controller for Predictive Simulations of Pathological Gait. Thomas Geijtenbeek, Frans van der Helm. PDF.
Abstract 35: Deadbeat control on the ATRIAS robot. Hartmut Geyer. PDF.
Abstract 36: Nearly Collisionless Motion for an Inertia-Coupled Rimless Wheel (+hardware). Mario Gomes. PDF.
Abstract 37: Changes in Locomotor Stability After Exposure to a Viscous Force Field. Keith Gordon, Geoffrey Brown, Kristen Jakubowski, and Mary Wu. PDF.
Abstract 38: Demonstration of ESCHER, a New Compliant Humanoid (hardware). Robert Griffin, Michael Hopkins, Coleman Knabe, John Seminatore, Jack Newton and Hunter McClelland. PDF.
Abstract 39: Walking and running with a powered ankle prosthesis. Martin Grimmer, Andre Seyfarth. PDF.
Abstract 40: Optimization-based predictions of walking with a prosthesis: gait kinematics, optimal prosthesis actuation, and Pareto-optimal strategies. Matthew Handford, Manoj Srinivasan. PDF.
Abstract 41: Multi-Contact Interaction with Hierarchical Inverse Dynamics and Momentum Trajectory Generation. Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal and Ludovic Righetti. PDF.
Abstract 42: A Neuromuscular Algorithm for a Powered Foot-Ankle Prosthesis Shows Robust Control of Level Walking and Stair Ascent. Anthony L. Hessel, U. Tahir, J. Petak, R. C. LeMoyne, Z. Han , J. Tester, and K. C. Nishikawa. PDF.
Abstract 43: A real-time virtual muscle system for prosthesis control. Sandra Hnat, , Antonie J. van den Bogert . PDF.
Abstract 44: Attractor Dynamics in Locomotion. Neville Hogan. PDF.
Abstract 45: Foot dissipation during ankle push-off: human walking insights from a multiarticular EMG-driven musculoskeletal model. Eric C. Honert, Karl E. Zelik. PDF.
Abstract 46: Portable Pneumatically-Powered Ankle-Foot Orthosis. Elizabeth Hsiao-Wecksler. PDF.
Abstract 47: Using optimal control to generate squat motions for the humanoid robot iCub with SEA. Yue Hu, Katja Mombaur and Francesco Nori. PDF.
Abstract 48: Towards Adaptive Self-Configuring Control for Powered Prosthetic Knee: A Simulation Study. Helen Huang, Yue Wen, Stephanie Huang, and Jennie Si. PDF.
Abstract 49: From Humans to Robots and Back: Role of Arm Movement in Medio-lateral Balance Control. Meghan Huber , Enrico Chiovetto, Ludovic Righetti, Stefan Schaal, Martin Giese, Dagmar Sternad. PDF.
Abstract 50: Foothold Selection Using Direct State-to-Action Mapping. Jemin Hwangbo, Marco Hutter, Christian Gehring, C. Dario Bellicoso, Peter Fankhauser and Roland Siegwart. PDF.
Abstract 51: Estimated changes in muscle-level dynamics and energetics under different levels of exoskeleton-applied work and torque . Rachel Jackson, Steven Collins. PDF.
Abstract 52: Sloped Walking with Prosthetic Ankle Power: The Effects of Tuning . Jana R. Jeffers, Alena M. Grabowski. PDF.
Abstract 53: Using perturbations to probe neural control: from standing to walking. John Jeka, Tim Kiemel. PDF.
Abstract 54: Comparative studies to understand body- and joint-level mechanics and control of unsteady locomotion: cockroaches, ostriches, and humans. Devin Jindrich. PDF.
Abstract 55: Walking on a shaky bridge and shaken treadmill: optimal walking motions predict metabolic costs below normal. Varun Joshi, Manoj Srinivasan. PDF.
Abstract 56: Non-linear robust control for inverted-pendulum 2D walking . Matthew Kelly, Andy Ruina. PDF.
Abstract 57: Stability of Planar Compass Gait Walking with Series Elastic Ankle Actuation. Deniz Kerimoglu, Omer Morgul and Uluc Saranli. PDF.
Abstract 58: Whole-Body Opertation Space Control: Undirectional Walking of a Point-Foot Series Elastic Biped . Donghyun Kim, Ye Zhao, Gray Thomas and Luis Sentis. PDF.
Abstract 59: Step-to-step ankle in/eversion torque control in a robotic ankle-foot prosthesis may reduce balance-related effort during walking. Myunghee Kim, Tianjian Chen, Tyler S. Del Sesto, and Steven H. Collins. PDF.
Abstract 60: The role of foot-ground interaction and slip during bipedal walking on granular media. Mark Kingsbury, Tingnan Zhang and Daniel Goldman. PDF.
Abstract 61: Improving Below-Knee Amputee Gait: A Simulation Study of Pareto-optimal Movement Trajectories. Anne Koelewijn, Antonie J. van den Bogert . PDF.
Abstract 62: Physiological Effects of a Simple Adaptive Ankle Exoskeleton. Jeffrey Koller, Daniel A. Jacobs, Daniel P. Ferris, and C. David Remy. PDF.
Abstract 63: Phase-based models of rhythmic systems. Matthew Kvalheim, Shai Revzen. PDF.
Abstract 64: Crouch Gait is More Stable than Normal Gait. Kyungho Lee, Yoonsang Lee, Soon-Sun Kwon, Jiwon Jeong, Carol O'Sullivan, Moon Seok Park and Jehee Lee. PDF.
Abstract 65: Raptor 2: Design of fast biped robot for 3D environments using active tail stabilization. Jinyi Lee, Jongwon Park, Jinwoo Lee, Kyung-Soo Kim and Soohyun Kim. PDF.
Abstract 66: Optimization of Step Length for the Least Balance Actuating . Jinwoo Lee, Jongwon Park, Jinyi Lee, Kyung-Soo Kim and Soohyun Kim. PDF.
Abstract 67: Compliant legged behavior of walking could be achieved by feedback control that shares springy oscillatory characteristics . Hyerim Lim, Sukyung Park . PDF.
Abstract 68: A 3D Dual-SLIP Model of Human Walking Over a Range of Speeds. Yiping Liu, Jim Schmiedeler, Patrick Wensing, and David Orin . PDF.
Abstract 69: Maintaining position vs. maintaining timing: two timescales of walking control. David Logan, Tim Kiemel, and John J. Jeka . PDF.
Abstract 70: Design and experiment research of a hydraulic-actuated humanoid biped robot for dynamic walking. Jianwen Luo, Yili Fu, Yu Lei and Jiawei Yang. PDF.
Abstract 71: Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work. . Philippe Malcolm, Samuel Galle, Pieter Van den Berghe, and Dirk De Clercq . PDF.
Abstract 72: How the arches of the feet influence stiffness . Shreyas Mandre, Marcelo Dias, Dhiraj Singh, Mahesh Bandi, and Madhusudhan Venkadesan. PDF.
Abstract 73: Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion. Pat Marion, Maurice F. Fallon, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald and Russ Tedrake. PDF.
Abstract 74: Assessing the Performance of a Lower-Limb Energy Harvesting Device. Jean-Paul Martin, Qingguo Li . PDF.
Abstract 75: Full Dynamics LQR Control for Bipedal Walking. Sean Mason, Stefan Schaal and Ludovic Righetti. PDF.
Abstract 76: The coupling of gaze and gait when walking over real-world rough terrain . Jonathan Matthis, Mary Hayhoe. PDF.
Abstract 78: The Roadrunner: A 2-D Powered Rimless Wheel Robot for Energy-efficient and Rough Terrain Locomotion (hardware). Scott Miller, Ezra Ameperosa, Kyle Seay, Rico Jovanni Ulep, and Pranav Bhounsule. PDF.
Abstract 79: Contact Prediction in Optimal Motion Planning of Walking. Carlotta Mummolo, Luigi Mangialardi, and Joo H. Kim. PDF.
Abstract 80: Reduced Dynamic Model in 3-D Cartesian Space for the Construction of Bipeds' Balanced Domain . Carlotta Mummolo, Luigi Mangialardi, and Joo H. Kim. PDF.
Abstract 81: Simulation of leaning standing after spinal cord injury. Raviraj Nataraj, Musa L. Audu and Ronald J. Triolo . PDF.
Abstract 82: Dynamic Bipedal Walking while Carrying an Unknown Time-Varying Load . Quan Nguyen, Koushil Sreenath. PDF.
Abstract 83: Sensory Weighting in a Rhythmic Ball Bouncing Task . Robert Nickl, M. Mert Ankarali and Noah J. Cowan . PDF.
Abstract 84: An emulator system to characterize optimal elastic ankle exo-skeleton stiffness during human walking and running.. Richard Nuckols, Steven H. Collins and Gregory S. Sawicki . PDF.
Abstract 85: Dynamic Entrainment to External Mechanical Perturbation in Human Walking: Treadmill vs. Overground Experiments. Julieth Ochoa, Dagmar Sternad and Neville Hogan . PDF.
Abstract 86: Optimal running occurs around natural bending stiffness of metatarsophalangeal joint. Keonyoung Oh , Sukyung Park . PDF.
Abstract 87: Dynamic Locomotion Skills for Obstacle Sequences Using Reinforcement Learning. X. B. Peng, G. Berseth, and M. van de Panne. PDF.
Abstract 88: Subject-Specific Dynamic Model of Instantaneous Cost of Transport with Novel Heat Dissipation Formulation. William Peng, Dustyn Roberts and Joo H. Kim . PDF.
Abstract 89: Identifying the dynamics of a human-exoskeleton system. Katherine Poggensee , Koushil Sreenath and Steven H. Collins . PDF.
Abstract 90: Whole-Body Dynamic Planning and Stabilization with Contact. Michael Posa, Scott Kuindersma, and Russ Tedrake . PDF.
Abstract 91: DARPA robotics challenge: what did we learn walking and movement coordination? Mini-talks + Panel discussion.. Jerry Pratt, Katie Byl, Russ Tedrake, and Chris Atkeson. PDF.
Abstract 92: Leg Joint Function during Walking Maneuvers. Mu Qiao, Devin L. Jindrich . PDF.
Abstract 93: Perturbation Responses of a Model of Biped Locomotion. Shakiba Rafiee, David Logan, John J. Jeka, and Tim Kiemel. PDF.
Abstract 94: Neuromuscular Reflex Models with Inverse Dynamics. Akshara Rai, Ellen Cappo, Tianwen Chu, Hartmut Geyer, and Chrisopher G. Atkeson. PDF.
Abstract 95: A parameter study of joint torque trajectory control during walking with bilateral ankle exoskeletons . Kyle E. Rawding, Rachel W. Jackson and Steven H. Collins . PDF.
Abstract 96: Symmetry in 3D Walking: Toward Understanding the Natural Dynamics of Legged Locomotion . Hamed Razavi, Anthony M. Bloch, Christine Chevallereau and J. W. Grizzle. PDF.
Abstract 97: Wrong and Useful: Metrics to Assess Simple Walking Models . John R. Rebula, Ludovic Righetti and Stefan Schaal . PDF.
Abstract 98: The cost of leg forces in bipedal locomotion promote a compliant optimal gait.. John Rebula, Arthur Kuo. PDF.
Abstract 99: Uncertain Multiple Contacts: A New Class of Bio-Inspired Controllers. Shai Revzen, Gavin Kenneally, Samuel Burden, and Daniel E. Koditschek . PDF.
Abstract 100: Control of ATRIAS, an Underactuated Compliant Bipedal Robot for Walking in 3D. Siavash Rezazadeh, Mikhail S. Jones, Andrew Peekema, and Jonathan W. Hurst . PDF.
Abstract 101: Simple Model of Foot Deformation in Human Locomotion . Ryan Riddick, Arthur Kuo. PDF.
Abstract 102: Unconstrained workloops identify neuro-mechanical resonance as a mechanism for elastic limb behavior. Benjamin Robertson, Gregory S. Sawicki. PDF.
Abstract 103: Momentum Estimation, Planning and Control for Force-Centric Bipedal Locomotion. Nicholas Rotella, Alexander Herzog, Stefan Schaal, and Ludovic Righetti. PDF.
Abstract 104: Quantification and Optimization of Bipedal Locomotion on Rough Terrain . Cenk Oguz Saglam, Katie Byl. PDF.
Abstract 105: Transfer and Evaluation of Decentralized Reactive Swing-Leg Controls for Powered Robotic Legs. A Schepelmann , J. Austin, and H. Geyer . PDF.
Abstract 106: The metabolic cost of changing speeds is significant and may affect preferred walking speeds . Nidhi Seethapathi, Manoj Srinivasan . PDF.
Abstract 107: Velocity based Leg adjustment for walking. Maziar Sharbafi, Andre Seyfarth . PDF.
Abstract 108: Motor learning in the game QWOP. Matt Sheen, Andy Ruina. PDF.
Abstract 109: Decreasing the cost of energy harvesting through load profile matching. Michael Shepertycky, Sarah Burton, Yan-Fei Liu and Qingguo Li . PDF.
Abstract 110: Computing the Finite Time Region of Attraction for Limit Cycles. Victor Shia, Ruzena Bajcsy, and Ram Vasudevan . PDF.
Abstract 111: On the utility of active damping leg for safe landing from a free fall . R. Shu, A. Siravuru and K. Sreenath . PDF.
Abstract 112: Novel Motor Control Mechanism for Impact Absorption. Avinash Siravuru, Mahesh Pai. PDF.
Abstract 113: Stabilization of Energy Optimal Series Elastic Gait. Nils Smit-Anseeuw,, C David Remy. PDF.
Abstract 114: Preferred speeds of mice during exposure to hypergravity. Benjamin Smith, James R. Usherwood. PDF.
Abstract 115: Using a Neuromuscular Model of Human Locomotion to Control Bipedal Robots. Seungmoon Song, Zachary Batts, and Hartmut Geyer. PDF.
Abstract 116: Comparison of Ankle Torque Reporting Methods for a Robotic Prosthesis. J. Tester, Lockwood E, Petak J, Hessel A, and Nishikawa K. PDF.
Abstract 117: Towards Neuromuscular Model-based Control for Robust Locomotion with Powered Transfemoral Prostheses. Nitish Thatte, Hartmut Geyer . PDF.
Abstract 118: Benchmarking bipedal walking: Towards international consensus. Diego Torricelli, Jan Veneman, Jose Gonzalez and Jose L Pons . PDF.
Abstract 119: Identifying Stability Properties of a Hybrid Spring-Mass-Damper via Piecewise LTI Approximation and Harmonic Transfer Functions. Ismail Uyanik, M. Mert Ankarali, Noah J. Cowan, Omer Morgul and Uluc Saranli . PDF.
Abstract 120: Learning Locomotion Skills. Michiel van de Panne. PDF.
Abstract 121: A model-based analysis of the mechanics and energetics of walking on uneven terrain. A.S. Voloshina, A.D. Kuo, D.P. Ferris and C.D. Remy. PDF.
Abstract 122: The effects of uneven terrain on human locomotion. A.S. Voloshina, D.P. Ferris. PDF.
Abstract 123: Mobility Enhancing Soft Exosuits. Conor Walsh. PDF.
Abstract 124: A template for efficient running with an actuated rotating mass. Liyu Wang. PDF.
Abstract 125: Crutch-assisted swing-through exoskeleton. Hongfei Wang, Yuan F. Zheng. PDF.
Abstract 126: Design of a Comfortable Pure Moment Knee Exoskeleton. Kirby Witte , Steven H. Collins. PDF.
Abstract 127: Effort-o-Meter: the relationship between effort of walking and amount of walking performed. Mailing Wu, Peter Adamcyzk and Steven Collins. PDF.
Abstract 128: Energetic tradeoffs of foot-to-ground clearance during swing phase of walking. Amy Wu, Arthur Kuo. PDF.
Abstract 129: Swing limb moment explains high cost of circumduction. Amy Wu, Meghna Menon, K. Alex Shorter and Arthur D. Kuo. PDF.
Abstract 130: Efficiency and kinetics analysis of powered walking model with different load connection forms. Yuanhao Wu, Chenglong Fu. PDF.
Abstract 131: Shod vs. barefoot walking: why do humans change their step frequency?. Matthew Yandell, Karl E. Zelik. PDF.
Abstract 132: Pacer: Modular, real-time software for legged robot planning and control. Samuel Zapolsky, Evan Drumwright . PDF.
Abstract 133: Walking the dog, with Pacer (hardware). Samuel Zapolsky, Evan Drumwright . PDF.
Abstract 134: Is the Foot Working With or Against the Ankle During Human Walking?. Karl E. Zelik. PDF.
Abstract 135: An inter-joint lower limb, passive exoskeleton for human gait. Jun-tian Zhang, and Dr. Qingguo Li . PDF.
Abstract 136: Selecting the Best Series Stiffness and Iterative Learning Gain for Exoskeleton Torque Control. Juanjuan Zhang, Steven Collins. PDF.
Abstract 137: Reactive responses of legs and arms to an unanticipated sudden drop of ground during human walking. Guoping Zhao, Dario Tokur and Andre Seyfarth . PDF.
Abstract 138: Modularity for maximum mobility and manipulation: Biped balancing using series-elastic joint actuators. Simon Kalouche and Howie Choset. PDF.
Abstract 139: Perturbation-dependent selection of postural feedback gain and its scaling. Sukyung (Sue) Park. PDF.
Abstract 140: Deadbeat Control on the ATRIAS Robot. William Martin, Albert Wu, and Hartmut Geyer. PDF.
