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.