Program details
Location: All sessions will be in the Ohio Union building . All Oral sessions, including the lightning talks, are at the US Bank Conference theater on the 1st floor (called 'ground floor' in some countries).
Posters will be in the Archie Griffin Ballroom (2nd floor) on July 20-21. We will transport them to the Great Hall Meeting Room (1st floor) for July 22-24.
Here is a day-wise schedule with all poster presentations in order. And here's a list of all the submitted abstracts. Speaker/presenter in bold below. (updated July 11, 2015)Monday, July 20
2:00-8:30 PM
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 PM
Continue to hang-out at the Ohio Union, or head out to another restaurant or bar.
Tuesday, July 21
All oral sessions at the US Bank Conference Theater on the first floor of the Ohio Union (1st floor = ground floor in some countries).
8:00-9:00 AM
Breakfast. Coffee, fruit, and baked goods. Grab a bite before the talks begin. You can also pick up your conference badges if you did not on Monday. Outside US Bank Conference theater (1st floor). Registration desk also outside US Bank Conference theater.
9:00-9:15 AM Manoj Srinivasan and Pranav Bhounsule
Introduction and Orientation
9:15-10:15 AM Michiel van de Panne
Keynote: Learning locomotion skills. PDF
10:15-10:35 AM Coffee Break. Coffee, pastries, etc.
Human walking stability, control, and system ID
10:35-10:50 AM Tim Kiemel
Using perturbations to probe neural control: from standing to walking. PDF 10:50-11:05
John Jeka
Balance control in human walking. PDF 11:05-11:20 AM James Finley, Sung-woo Park
Temporal interactions between stability and energetics during human locomotor learning. PDF 11:20-11:30 AM Keith Gordon, Geoffrey Brown, Kristen Jakubowski, and Mary Wu
Changes in locomotor stability after exposure to a viscous force field. PDF
11:30-11:40 PM Kyungho Lee, Yoonsang Lee, et al
Crouch gait is more stable than normal gait. PDF
11:40-11:50 PM Peter Adamczyk, Lauro Ojeda and Art Kuo
Reconstructing the unusual gait events in everyday life. PDF
12:10-2:00 PM Lunch buffett at the Ohio Union
Control and Robots
2:00-2:15 PM Michael Posa, Scott Kuindersma, and Russ Tedrake.
Whole-body dynamic planning and stabilization with contact. PDF
2:15-2:30 PM Quan Nguyen and Koushil Sreenath
Dynamic bipedal walking while carrying an unknown time-varying load. L1 adaptive control. PDF
2:30-2:40 PM Matthew Kelly and Andy Ruina
Non-linear robust control for inverted-pendulum 2D walking. PDF
2:40-2:50 PM Sukyung (Sue) Park
Perturbation-dependent selection of postural feedback gain and its scaling. PDF 2:50-3:00 PM Victor Shia, Ruzena Bajcsy, Ram Vasudevan
Computing the finite time region of attraction for limit cycles. PDF
3:10-3:40 PM Lightning talks for the posters, 60 seconds each, about 20 posters. All posters.
3:40-6:00 PM Poster session at the Ohio Union. Coffee and pastries served. All posters.
6:45-8:30 PM Dinner (sit-down) at the Ohio Union
8:30-10:30 PM Hang-out at the Union or head out
Wednesday, July 22
All oral sessions at the US Bank Conference Theater on the first floor of the Ohio Union (1st floor = ground floor in some countries).
8:00-9:00 AM
Breakfast. Coffee, fruit, and baked goods. Grab a bite before the talks begin.
Uneven terrain, unsteady locomotion, and robustness
9:00-9:30 AM Devin Jindrich Stability/Maneuvering mechanics in insects and larger vertebrates. PDF
9:30-9:45 AM Cenk Oguz Saglam and Katie Byl
Quantification and optimization of bipedal locomotion on rough terrain. PDF
9:45-10:00 AM Pat Marion, Maurice Fallon, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, and Russ Tedrake
Continuous humanoid locomotion over uneven terrain using stereo fusion. PDF
10:00-10:10 AM Jonathan Matthis and Mary Hayhoe
The coupling of gaze and gait when walking over real-world rough terrain. PDF
10:10-10:25 AM A. S. Voloshina and Dan Ferris.
The effects of uneven terrain on human locomotion. PDF
10:25-10:35 AM Nihav Dhavale, Shreyas Mandre and Madhu Venkadesan
Human running on rough terrains: Energetics and stability. PDF
10:35-10:45 AM Osman Darici, H. Temeltas, and Art Kuo.
Beware of the bump: Optimal strategy to traverse a step height perturbation. PDF
10:45-11:00 AM Coffee Break. Coffee, pastries, etc.
Energy and effort in human locomotion
11:00-11:15 AM Phillipe Malcolm, Samuel Galle, Pieter Van den Berghe, Dirk De Clercq.
Analysis of walking with unilateral exoskeleton assistance compared to bilateral assistance with matched work. PDF
11:15-11:30 AM Ben Robertson and Greg Sawicki
Unconstrained muscle-tendon workloops indicate resonance tuning as a mechanism for elastic limb behavior during terrestrial locomotion. PDF
11:30-11:40 AM John Rebula and Art Kuo
The cost of leg forces in bipedal locomotion promote a compliant optimal gait. PDF
11:40-11:50 AM Amy Wu and Art Kuo
Energetic tradeoffs of foot-to-ground clearance during swing phase of walking. PDF
11:50-12:00 PM Josh Caputo, Peter Adamczyk and Steve Collins
Optimizing prosthesis design to maximize user satisfaction using a tethered robotic ankle-foot prosthesis. PDF
12:00-12:10 PM Nidhi Seethapathi and Geoff Brown
Energetics and energy optimality of unsteady and non-straight-line walking. PDF
12:10-2:00 PM Lunch. Grab your lunch boxes and spread out on the lawns or inside the building, check out the posters, or head back into the conference room.
2:00-2:30 PM Neville Hogan
Attractor Dynamics in Locomotion. Ankle impedence, entrainment to perturbations, and long time-scale correlations during walking. PDF
Humans, robots, and prostheses: A few 5 minute talks
2:31-2:37 PM Mario Gomes Nearly collision-less motion for an inertia-coupled rimless wheel. PDF
2:35-2:41 PM Matthew Kvalheim and Shai Revzen
Phase-based models of rhythmic systems. PDF
2:41-2:47 PM Carlotta Mummolo, Luigi Mangialardi, and Joo Kim Reduced-order dynamic model in 3-D cartesian space for the construction of bipeds’ balanced domain. PDF 2:47-2:53 PM William Peng, Dustyn Roberts, and Joo Kim
Subject-specific dynamic model of instantaneous cost of transport with novel heat dissipation formulation. PDF. 2:53-2:59 PM 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
2:59-3:05 PM Anne Koelewijn and Ton van den Bogert.
Improving Below-Knee Amputee Gait: A Simulation Study of Pareto-optimal Movement Trajectories. PDF
3:05-3:11 PM 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
3:25-3:55 PM Lightning talks for the posters, 60 seconds each, about 20 posters. All posters. 3:55-6:00 PM Poster session at the Great Hall Meeting Room. Coffee and pastries served. All posters.
6:45-8:30 PM Dinner on the town (restaurant suggestions).
6:45-10:30 PM Hang-out at the Union or head out.
Thursday, July 23
All oral sessions at the US Bank Conference Theater on the first floor of the Ohio Union (1st floor = ground floor in some countries).
8:00-9:00 AM
Breakfast. Coffee, fruit, and baked goods. Grab a bite before the talks begin.
Prostheses and exoskeletons
9-9:30 AM Steve Collins
Reducing the energy cost of human walking using an unpowered exoskeleton. PDF. More info.
9:30-9:50 AM Conor Walsh
Mobility enhancing soft exosuits. PDF
9:50-10:05 AM Elizabeth Hsiao-Wecksler
Portable pneumatically-powered ankle-foot orthosis. PDF
10:05-10:15 AM Jeffrey Koller, Daniel A. Jacobs, Daniel P. Ferris, C. David Remy
Physiological effects of a simple adaptive ankle exoskeleton. PDF
10:15-10:25 AM Matthew Handford and Manoj Srinivasan
Energy-optimization-based predictions of walking with a unilateral ankle-foot prosthesis: gait kinematics, optimal prosthesis actuation, metabolic benefits, passive prostheses, and pareto-optimal strategies. PDF
10:25-10:45 AM Coffee Break
About feet
10:45-11:00 AM Karl Zelik
Is the foot working with or against the ankle during human walking? PDF
11:00-11:06 AM Matthew Yandell and Karl Zelik
Shod vs. barefoot walking: why do humans change their step frequency? PDF
11:06-11:12 AM Keonyoung Oh and Sukyung Park
Optimal running occurs around natural bending stiffness of metatarsophalangeal joint. PDF
11:18-11:24 AM Ryan Riddick and Art Kuo
Simple model of foot deformation in human locomotion. PDF
11:24-11:30 AM Shreyas Mandre, Marcelo Dias, Dhiraj Singh, Mahesh Bandi, and Madhu Venkadesan
How the arches of the feet influence stiffness. PDF
11:30-11:50 AM Shai Revzen and Sam Burden
Dynamics and control of gaits with near-simultaneous contacts.
Shai Revzen, Sam Burden, Gavin Kenneally, Samuel Burden, Daniel E. Koditschek
Uncertain multiple contacts: A new class of bio-inspired controllers. PDF
Sam Burden, Shankar Sastry, Daniel E. Koditschek, Shai Revzen
Near–Simultaneous footfalls lend stability to multi-legged gaits. PDF
Robot control: A few 5 minute talks
11:50-11:56 AM Johannes Englsberger, Pawel Kozlowski, Christian Ott
Biologically inspired dead-beat controller for bipedal running in 3D. PDF
11:56-12:02 PM Nicholas Rotella, Alexander Herzog, Stefan Schaal, and Ludovic Righetti
Momentum estimation, planning and control for force-centric bipedal locomotion. PDF 12:02-12:08 PM Siavash Rezazadeh and Jonathan Hurst Control of ATRIAS, an underactuated compliant bipedal robot for walking in 3D. PDF
12:08-12:14 PM Hamed Razavi, Anthony M. Bloch, Christine Chevallereau and Jessy Grizzle
Symmetry in 3D walking: Toward understanding the natural dynamics of legged locomotion. PDF
12:15-2:00 PM Lunch (buffett) at the Ohio Union
2:00-2:15 PM Alena Grabowski
Using prostheses for running and sprinting
Humans, robots, and prostheses: A few 5 minute talks
2:15-2:21 PM Jana Jeffers and Alena Grabowski Sloped walking with prosthetic ankle power: The effects of tuning. PDF
2:21-2:26 PM Mu Qiao and Devin Jindrich
Leg Joint Function during Walking Maneuvers. PDF
2:26-2:31 PM Rachel Jackson and Steve Collins Estimated changes in muscle-level dynamics and energetics under different levels of exoskeleton-applied work and torque. PDF
2:31-2:37 PM William Bosworth, Michael Farid, Deborah Ajilo, Sangbae Kim, and Neville Hogan
Bounding, jumping, turning and stopping with a small, low-cost quadrupedal robot. PDF
2:37-2:43 PM 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
2:43-2:50 PM David Logan, Tim Kiemel, and John J. Jeka
Maintaining position vs. maintaining timing: two timescales of walking control. PDF
3:15-3:45 PM Lightning talks for the posters, 60 seconds each, about 20 posters. All posters. 3:45-6:00 PM Poster and hardware demo session at the Great Hall Meeting Room. Coffee and pastries served. All posters.
5:00-6:00 PM Prosthesis emulator demo by Josh Caputo. Address: Scott Lab. 201, W. 19th Ave. room W197 (10 min walk across campus). PDF.
6:45-8:30 PM Dinner (sit-down) at the Performance Hall (Ohio Union)
8:30-10:30 PM Hang-out at the Union or head out.
Friday, July 24
All oral sessions at the US Bank Conference Theater on the first floor of the Ohio Union (1st floor = ground floor in some countries).
8:00-9:00 AM Breakfast. Coffee, fruit, and baked goods. Grab a bite before the talks begin.
9:00-9:30 AM Max Donelan
Why do animals outperform their robot counterparts?
9:30-9:55 AM The ETH Quadrupedal talk
Christian Gehring, Stelian Coros, Marco Hutter, and Roland Siegwart
An optimization approach to controlling jump maneuvers for a quadrupedal robot. PDF
Jemin Hwangbo, Marco Hutter, Christian Gehring, Dario Bellicoso, Peter Fankhauser and Roland Siegwart
Foothold selection using direct state-to-action mapping. PDF
C. Dario Bellicoso, Christian Gehring, Stelian Coros, Marco Hutter and Roland Siegwart
Dynamic trotting on inclined terrain for quadrupedal robots. PDF
9:55-10:10 AM Control for robots and prostheses
Alex Schepelman, J. Austin, and Hartmut Geyer
Transfer and evaluation of decentralized reactive swing-leg controls for powered robotic legs. PDF
Nitish Thatte and Hartmut Geyer
Towards neuromuscular model-based control for robust locomotion with powered transfemoral prostheses. PDF
10:10-10:25 AM William Martin, Albert Wu, and Hartmut Geyer
Deadbeat control on the ATRIAS robot. PDF.
10:25-10:45 AM Coffee break. Coffee, pastries, etc.
More control: humans, robots, and simple models
10:45-11:00 AM Noah Cowan and Mert Ankarali Haptic feedback enhances rhythmic motor control by reducing variability, not improving convergence rate. PDF
11:00-11:10 AM Jon Dingwell, Jonathan H. Rylander, Joseph P. Cusumano, and Jason M. Wilken
Control models of lateral stepping in human walking. PDF 11:10-11:20 AM Donghyun Kim, Ye Zhao, Gray Thomas and Luis Sentis
Whole-Body Opertation Space Control: Undirectional Walking of a Point-Foot Series Elastic Biped. PDF
11:20-11:30 AM Matthew Sheen and Andy Ruina
Motor learning in the game QWOP. PDF 11:30-11:45 AM
Andy Ruina and Anoop Grewal How good can low-dimensional control based on a simple model be?
12:00-2:00 PM Lunch. Grab your lunch boxes and spread out on the lawns or inside the building, check out the posters, or head back into the conference room.
2:00-2:20 PM Barrett Clark, Yang Wang, Varun Joshi, and Manoj Srinivasan On human walking foot placement + Energy-optimal perturbation recovery for a walking biped. PDF
2:30-4:00 PM Jerry Pratt, Katie Byl, Russ Tedrake, and Chris Atkeson
The DARPA robotics challenge: what did we learn about walking and movement coordination? Mini-talks and panel discussion.
Closings remarks.
Dinner on the town, on your own (restaurant suggestions).
Saturday, July 25
10:00-
Amusement Park Trip on July 25. Want to reach 0 to 120 mph (193 km/hr) in 3.8 seconds? Cedar Point is THE roller coaster capital of the world and is only 2.5 hours away from Ohio State University. We are planning a trip to Cedar Point on Saturday, July 25th, after the conclusion of Dynamic Walking. Tickets will be around $48-$55, depending on number of participants and cars needed. If you are interested in joining, please e-mail Amy Wu at amyrwu@umich.edu.
