Conference on Dynamic
          Walking, July 21-24, 2015
 

Posters and Lightning talks

Posters location: All posters will be up for the whole duration of the conference. Posters will be at most 48 inches x 48 inches. Posters will mostly be in the Archie Griffin Ballroom on July 20-21 (2nd floor) and Great Hall Meeting Room on July 22-24 (1st floor, called 'ground floor' in some countries) in the Ohio Union building but look out for small updates a week before the conference (possible poster location update for July 20-21). The 1 min lightning talks for the posters will be in the US Bank Conference Theater, also on the 1st floor, as part of the regular oral sessions. The 2-slide presentation from the lightning talks will also be on a perpetual slideshow on big screens in the poster room.

During the poster sessions, you will see one sponsor exhibit by BERTEC (instrumented treadmills, load cells, etc). Here's an alphabetical list of all the submitted abstracts.

Monday, July 20 (hang your posters)

2:00-8:30
Casual Welcome Hang-out + dinner + badge pick-up.
The Ohio Union
. The Archie Griffin East Ballroom (second floor).
Drop by through the day for an opportunity to hang out with other conference attendees. Snacks, food, and beverages will be served throughout this period.

Dinner (real food) will be available from 6 pm to 8:30 pm.

You will also be able to pick up your conference badges, hang your posters, and perhaps test your computers. Hang your posters at the Archie Griffin East Ballroom on the second floor of the Ohio Union.

8:30-10:30
Continue to hang-out at the Ohio Union, or head out to another restaurant or bar.

Tuesday, July 21 (poster day 1)

3:10-3:40
Lightning talks for the posters, 60 seconds each, about 20 posters.
3:40-6:00
Poster session at the Ohio Union. Coffee and pastries served.

Posters from the Lightning talks

1
Ruta Desai and Jessica Hodgins
A simple model of skill acquisition in a dynamic balance task. PDF
2
Diego Torricelli, Jan Veneman, Jose Gonzalez and Jose L Pons
Benchmarking bipedal walking: Towards international consensus. PDF
3
Sabrina Abram and Ton van den Bogert
Footstep Control for the NAO Humanoid Robot using the Extrapolated Center of Mass. PDF
4
Michele Focchi, Darwin Caldwell, Claudio Semini
Slip recovery for quadruped robots. PDF
5
Jianwen Luo, Yilli Fu, Yu Lei, Jiawei Yang
Design and experiment research of a hydraulic-actuated humanoid biped robot for dynamic walking. PDF
6
Zhenyu Gan and David Remy
A model-based velocity study of walking and trotting horses. PDF
7
Yue Gao, Yan Huang, Qining Wang
Local stability of a flat-foot biped with ankle compliance under energy shaping control. PDF
8
Yue Hu, Katja Mombaur, Francesco Nori
Using optimal control to generate squat motions for the humanoid robot iCub with SEA. PDF
9
Deniz Kerimoğlu, Omer Morgul and Uluc Saranli
Stability of planar compass gait walking with series elastic ankle actuation. PDF
10
Ismail Uyanik, M. Mert Ankarali, Noah J. Cowan, Omer Morgul and Uluc Saranli Identifying stability properties of a hybrid spring–mass–damper via piecewise LTI approximation and harmonic transfer functions. PDF
11
Liyu Wang
A template for efficient running with an actuated rotating mass. PDF.
12
Emanuel Blair and Steve Collins
A disturbance emulation system for stability and recovery testing. PDF
13
Guoping Zhao and Andre Seyfarth
Reactive responses of legs and arms to an unanticipated sudden drop of ground during human walking. PDF
14
Meghan Huber, Enrico Chiovetto, Ludovic Righetti, Stefan Schaal, Martin Giese, and Dagmar Sternad.
From humans to robots and back: Role of arm movement in medio-lateral balance control. PDF
15
Tianjian Chen, Myunghee Kim, Tyler S. Del Sesto and Steven H. Collins
Inversion-Eversion Stiffness of Ankle-Foot Prosthesis Affects Amputee’s Balance-Related Effort during Walking. PDF
16
Stuart Diller, Carmel Majidi, and Steve Collins
Clutching with High Force, High Bandwidth, Low Mass, and Low Energy Consumption using Electrostatics. PDF
17
Juanjuan Zhang and Steve Collins.
Selecting the best series stiffness and iterative learning gain for exoskeleton torque control. PDF
18
Julieth Ochoa, Dagmar Sternad, and Neville Hogan.
Dynamic entrainment to external mechanical perturbation in human walking: treadmill vs. overground experiments. PDF
19
Carlotta Mummolo, Luigi Mangialardi, and Joo Kim Contact Prediction in Optimal Motion Planning of Walking. PDF 
20
Amy Wu, Meghna Menon, K. Alex Shorter and Arthur D. Kuo.
Swing limb moment explains high cost of circumduction. PDF
21
John Rebula, Ludovic Righetti and Stefan Schaal. Wrong and useful: metrics to assess simple walking models. PDF
22
Robert Nickl, M. M. Ankarali, and Noah Cowan. Sensory weighting in a rhythmic ball bouncing task. PDF
23
Avinash Siravuru, Mahesh Pai Novel Motor Control Mechanism for Impact Absorption. PDF
24
Amber Emmens, Gijs van Oort, Edwin van Asseldonk and Herman van der Kooij. A comparison between control strategies for balancing with an actuated ankle orthosis: preliminary simulation results. PDF
25
Raviraj Nataraj, Musa L. Audu, and Ronald J. Triolo Simulation of leaning standing after spinal cord injury. PDF

3:40-6:00
Sponsor exhibit. BERTEC. Instrumented treadmills, force plates, load cells, etc.

Wednesday, July 22 (poster day 2)

3:25-3:55
Lightning talks for the posters, 60 seconds each.
3:55-6:00
Poster session at the Great Hall Meeting Room. Coffee and pastries served.

Posters from the Lightning talks

26
Mark Kingsbury, Tingnan Zhang and Dan Goldman
The role of foot-ground interaction and slip during bipedal walking on granular media. PDF
27
Jinyi Lee, Jongwon Park, Jinwoo Lee, Kyung-Soo Kim and Soohyun Kim
Raptor 2: Design of fast biped robot for 3D environments using active tail stabilization. PDF
28
Jinwoo Lee, Jongwon Park, Jinyi Lee, Kyung-Soo Kim and Soohyun Kim.
Optimization of step length for the least balance actuating. PDF
29
Yiping Liu, Jim Schmiedeler, Patrick Wensing, and and David Orin
A 3D Dual-SLIP Model of Human Walking Over a Range of Speeds. PDF
30 Varun Joshi and Manoj Srinivasan Walking on a shaky bridge and shaken treadmill: optimal walking motions predict metabolic costs below normal. PDF.
31
R. Shu, A. Siravuru and Koushil Sreenath
On the utility of active damping leg for safe landing from a free fall. PDF
32
Nils Smit-Anseeuw and David Remy
Stabilization of energy optimal series elastic gait. PDF
33
Seungmoon Song, Zachary Batts, and Hartmut Geyer
Using a neuromuscular model of human locomotion to control bipedal robots. PDF
34
Jean-Paul Martin and Qingguo Li
Assessing the performance of a lower-limb energy harvesting device. PDF
35
Michael Shepertycky and Qingguo Li
Decreasing the cost of energy harvesting through load profile matching. PDF
36
Davide Corradi and Katja Mombaur
Determination of the characteristic features of elderly gait for optimal posture recovery using robotic assistive devices. PDF
37
Shakiba Rafiee, David Logan, John Jeka, Tim Kiemel
Perturbation Responses of a Model of Biped Locomotion. PDF
38
Richard Nuckols, Steve Collins and Greg Sawicki
An emulator system to characterize optimal elastic ankle exo-skeleton stiffness during human walking and running. PDF
39
J. Tester, E Lockwood, J. Petak, A. Hessel, and K. Nishikawa.
Comparison of ankle torque reporting Methods for a Robotic Prosthesis. PDF
40
Benjamin Smith and James Usherwood Preferred speeds of mice during exposure to hypergravity. PDF
41
Maziar Sharbafi and Andre Seyfarth
Velocity based leg adjustment for walking. PDF
42
Sean Barton, Jonathan Samir Matthis, and Brett Fajen Walkers use visual information about distance between target footholds to initialize the upcoming step. PDF
43
Katherine Poggensee, Koushil Sreenath, and Steve Collins
Identifying the dynamics of a human-exoskeleton system. PDF

More posters from the 5+0 and other talks

44
A.S. Voloshina, A.D. Kuo, D.P. Ferris and C.D. Remy A model-based analysis of the mechanics and energetics of walking on uneven terrain. PDF
45
Mario Gomes Nearly collision-less motion for an inertia-coupled rimless wheel. PDF
46
Matthew Kvalheim and Shai Revzen
Phase-based models of rhythmic systems. PDF
47
Carlotta Mummolo and Joo Kim
Reduced dynamic model in 3-D cartesian space for the construction of bipeds’ balanced domain.  PDF
48
William Peng, Dustyn Roberts, and Joo Kim
Subject-specific dynamic model of instantaneous cost of transport with novel heat dissipation formulation. PDF.
49
Yanggang Feng, Baojun Chen, Tianshuo Huang, and Qining Wang
Walking metabolic cost of transtibial amputee at slow speed using robotic prosthesis with damping behaviors. PDF
50
Anne Koelewijn and Ton van den Bogert.
Improving Below-Knee Amputee Gait: A Simulation Study of Pareto-optimal Movement Trajectories. PDF
51
Myunghee Kim, Tianjian Chen, Tyler S. Del Sesto, and Steven H. Collins
Step-to-step ankle in/eversion torque control in a robotic ankle-foot prosthesis may reduce balance-related effort during walking. PDF

3:55-6:00
Sponsor exhibit. BERTEC. Instrumented treadmills, force plates, load cells, etc.

Thursday, July 23 (poster day 3)

3:15-3:45
Lightning talks for the posters, 60 seconds each, about 20 posters.
3:45-6:00
Poster and hardware demo session at the Great Hall Meeting Room. Coffee and pastries served.

87
3:45-6:00
Prosthesis emulator demo in Scott Lab (10 min walk across campus).
Joshua Caputo and Steve Collins.
Address: Room W197, Scott Laboratory. 201, W. 19th Ave.

Posters from the lightning talks

52
Hyerim Lim and Sukyung Park
Compliant legged behavior of walking could be achieved by feedback control that shares springy oscillatory characteristics. PDF
53
Martin Grimmer and Andre Seyfarth
Walking and running with a powered ankle prosthesis. PDF
54
Eric Honert and Karl Zelik
Foot dissipation during ankle push-off: human walking insights from a multiarticular EMG-driven musculoskeletal model. PDF
55
Helen Huang, Yue Wen, Stephanie Huang, Jennie Si
Towards Adaptive Self-Configuring Control for Powered Prosthetic Knee: A Simulation Study. PDF
56
Jun-Tian Zhang and Qingguo Li
An inter-joint lower limb, passive exoskeleton for human gait. PDF
57
Sandra Hnat and Ton van den Bogert.
A real-time virtual muscle system for prosthesis control. PDF
58
Akshara Rai, Ellen Cappo, Tianwen Chu, Hartmut Geyer, Chrisopher G. Atkeson
Neuromuscular reflex models with inverse dynamics. PDF
59
Samuel Zapolsky, Evan Drumwright
Pacer: Modular, real-time software for legged robot planning and control. PDF
60
Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal and Ludovic Righetti
Multi-contact interaction with hierarchical inverse dynamics and momentum trajectory generation. PDF
61
Yuanho Wu and Chenglong Fu
Efficiency and kinetics analysis of powered walking model with different load connection forms. PDF
62
Travis Brown and Jim Schmiedeler.
Direct trajectory optimized walking gaits implemented on a planar biped via virtual constraints. PDF
63
Simon Kalouche and Howie Choset
Modularity for Maximum Mobility and Manipulation: Biped Balancing Using Series-Elastic Joint Actuators. PDF.
64
Jorhabib Eljaik, Naveen Kuppuswamy, Daniele Pucci and Francesco Nori Enhanced torque-controlled balancing through multimodal sensor fusion based on an extended Kalman filter. PDF
65
Kirby Witte and Steve Collins Design of a comfortable pure moment knee exoskeleton.
66
Jason Cortell and Andy Ruina Efficient and agile open-source bipedal robot. PDF
67
Sean Mason, Stefan Schaal and Ludovic Righetti Full dynamics LQR Control for bipedal walking. PDF
68
Mailing Wu, Peter Adamczyk and Steve Collins Effort-o-Meter: the relationship between effort of walking and amount of walking performed. PDF
69
Alison Sheets, Shivam Bhan, Sara Novotny, Shivam Bhan
Maximum Sprint Speed and Upper Body Angular Momentum Generation Capabilities

83 Robert Griffin, Michael Hopkins, Coleman Knabe, John Seminatore, Jack Newton and Hunter McClelland ESCHER, a New Compliant Humanoid. PDF


More posters from 5+0 and other talks

70
X. B. Peng, G. Berseth, and Michiel van de Panne Dynamic Locomotion Skills for Obstacle Sequences Using Reinforcement Learning. PDF
71
Matthew Yandell and Karl Zelik
Shod vs. barefoot walking: why do humans change their step frequency? PDF
72
Keonyoung Oh and Sukyung Park
Optimal running occurs around natural bending stiffness of metatarsophalangeal joint. PDF
73
Ryan Riddick and Art Kuo
Simple model of foot deformation in human locomotion. PDF
74
Shreyas Mandre, Marcelo Dias, Dhiraj Singh, Mahesh Bandi, and Madhu Venkadesan
How the arches of the feet influence stiffness. PDF
75
Johannes Englsberger, Pawel Kozlowski, Christian Ott
Biologically inspired dead-beat controller for bipedal running in 3D. PDF
76
Nicholas Rotella, Alexander Herzog, Stefan Schaal, and Ludovic Righetti
Momentum estimation, planning and control for force-centric bipedal locomotion. PDF
77
Siavash Rezazadeh and Jonathan Hurst Control of ATRIAS, an underactuated compliant bipedal robot for walking in 3D. PDF
78
Hamed Razavi, Anthony M. Bloch, Christine Chevallereau and Jessy Grizzle
Symmetry in 3D walking: Toward understanding the natural dynamics of legged locomotion. PDF
79
Jana Jeffers and Alena Grabowski Sloped walking with prosthetic ankle power: The effects of tuning. PDF
80
Mu Qiao and Devin Jindrich
Leg Joint Function during Walking Maneuvers. PDF
81
Rachel Jackson and Steve Collins Estimated changes in muscle-level dynamics and energetics under different levels of exoskeleton-applied work and torque. PDF
82
William Bosworth, Michael Farid, Deborah Ajilo, Sangbae Kim, and Neville Hogan
Bounding, jumping, turning and stopping with a small, low-cost quadrupedal robot. PDF
83
Robert Griffin, Michael Hopkins, Coleman Knabe, John Seminatore, Jack Newton and Hunter McClelland
(Part of Lightning talk now). ESCHER, a New Compliant Humanoid. PDF
84
A.L. Hessel, U. Tahir, J. Petak, R.C. LeMoyne, Z. Han, J. Tester and K.C. Nishikawa
A neuromuscular algorithm for a powered foot-ankle prosthesis shows robust control of level walking and stair ascent. PDF
85
David Logan, Tim Kiemel, and John J. Jeka
Maintaining position vs. maintaining timing: two timescales of walking control. PDF


Other hardware

85
Roberts Brothers, Raquel De La Garza, Sebastian Sanchez, Christian Trevino, Pranav A. Bhounsule. Ein: A Modular Robotic Leg (hardware).
86
Scott Miller, Ezra Ameperosa, Kyle Seay, Rico Jovanni Ulep, and Pranav Bhounsule. The Roadrunner: A 2-D Powered Rimless Wheel Robot for Energy-efficient and Rough Terrain Locomotion (hardware).


More posters from lightning talks

87
Hongfei Wang, Yuan F. Zheng
Crutch-assisted swing-through exoskeleton. PDF.


3:30-6:00
Sponsor exhibit. BERTEC. Instrumented treadmills, force plates, load cells, etc.

Friday, July 24 (take your posters down)

Whenever before 4 pm
Take down your posters. Whenever you get a chance. You can leave it up until the last moment, if you feel like you wish to continue your poster-related conversations with the other attendees.