Program


Monday

08.15: Transfer by bus from Jena to the meeting place in Dornburg

09.15 - 09.30: Welcome

09.30 - 10.30: Tandem Talk I - A. Ruina and J. Lingeman

Chair: Katja Mombaur

Learning to Walk

10.30 - 11.00: Coffee break

11.00 - 12.30:  Session I - Gait analysis

Chair: Hartmut Geyer

P. Aerts   Dynamics of gait transitions
M. Maus   Linear structure in human treadmill running?
J. Dingwell   Minimum Intervention Control of Stepping Variability:
  Implications for Humans, Robotics, and Rehabilitation

12.30 - 13.30: Lunch break

13.30 - 15.00: Session II - Feedback control

Chair: Christopher Atkeson

R. Tedrake   Experiments with Dynamic Walking using LQR-Trees
S. Coros   Robust Locomotion Control for Physically-Simulated
  Creatures
J. Rebula   Embedded dynamic walking models for control
  of complex 3D bipeds

15.00 - 17.00: Poster Session I

Chair: Christophe Maufroy

17.00 - 18.30: Session III - Legged robots I

Chair: Koh Hosoda

J. Godowski
  FastRunner: High Speed, Efficient, Dynamically Stable
  Bipedal Robot.
K. Albert   Progress in Quadrupedal Locomotion at Boston Dynamics:
  A Dynamically Balanced Walking Gait
S. Kim   Design challenges in cheetah inspired galloping quadruped

19.00 - 21.00: Dinner (at the castle)

20.00 / 21.30 / 23.00: Transfer by bus back to Jena

 


Tuesday

08.15: Transfer by bus from Jena to the meeting place in Dornburg

09.00 - 10.00: Tandem Talk II - T. Sugar and G. Sawicki

Chair: tba

Bio-inspired Wearable Robots: Compliant Actuation, Muscle-Tendon Physiology and the Interaction at the Human Interface 

10.00 - 10.30: Coffee break

10.30 - 12.30Session IV - Prostheses/Orthoses and Gait Optimization

Chair: Andy Ruina

S. Collins        
Exploring ankle control strategies with an experimental
biomechatronic testbed
M. Donelan Prediction and direct optimization are used in the selection
of energetically optimal gaits
K. Mombaur
Using optimal control to study sprinting on artificial legs

H. Geyer

What breakthroughs does the field of legged dynamics need?

12.30 - 13.30: Lunch break

13.30 - 15.00: Tutorial I

Optimal control techniques for Dynamic Walking
by
Katja Mombaur and Martin Felis

15.00 - 17.00: Poster Session II

Chair: Christophe Maufroy

17.00 - 18.30: Hardware demo

17.00 and 18.00: Guided tours of the Castle

19.00 - 21.00: Barbecue (at the castle)

20.00 / 21.30 / 23.00: Transfer by bus back to Jena

 


Wednesday

08.15: Transfer by bus from Jena to the meeting place in Dornburg

09.00 - 10.00: Tandem Talk III - J. Hurst and Y. Blum

Chair: Emanuel Andrada

Robust Running: From Experimental Animal Data to Robotic Implementation

10.00 - 10.30: Coffee break

10.30 - 12.00: Tutorial II 

Musculoskeletal model for simulation of walking 
by Ton van den Bogert

12.00 - 13.00: Lunch break

13.00 - 14.00: Tandem Talk IV - A. Büschges and T. Buschmann

Chair: Oskar von Stryk

How to Generate Stepping: From Neuronal Control in Animals to Design and Control Concepts for Fast Biped Walking in LOLA

14.00: Transfer by bus to Jena

14.30 - 18.00: Afternoon in Jena

Tutorial III: Matching experimental data to models
by Moritz Maus and  Yvonne Blum

Lab Tours

19.00 - 22.00: Social event with dinner (in Jena)

 


Thursday

08.15: Transfer by bus from Jena to the meeting place in Dornburg

09.00 - 10.00: Tandem Talk V - A. Karguth and M. Fischer

Chair: David Lee

RatNic - Technology and Biology

10.00 - 10.30: Coffee break

10.30 - 12.30: Session V - Legged robots II

Chair: Jonathan Hurst

D. Owaki A CPG-based Decentralized Control by Exploiting
Spontaneous Transition between Oscillatory and Excitatory
Regimes - A Case Study with a Real Quadruped Robot
O. von Stryk  
Towards Dynamic Walking and Running based on Three-
Segmented, Bio-Inspired Compliant Robotic Legs
K. Hosoda Investigating Human Locomotion by using Muscular-
Skeletal Humanoids
C. Ott
Torque and force controllers for a biped robot

12.30 - 13.30: Lunch break

13.30 - 15.00:  Session VI - Translating gait data to biomechanical models

Chair: Reinhard Blickhan (co-chair: Michael Ernst)

S. Hamner      
Muscle contributions to propulsion and support over a range of running speeds
D. Lee Relating a serial actuator-spring model of joint and leg
mechanics to quadrupedal gait dynamics
F. Peuker Involuntary morphosis - Modular simulation of limb damage 
in quadrupeds

15.00 - 15.15: Coffee Break

15.15 - 16.00: Closing Talk

Chair: André Seyfarth

Exploring biomechanics to facilitate control
by  Reinhard Blickhan

16.00 - 16.15: Closing remarks and end of the conference

16.30: Transfer by bus to Jena

 


Friday

09.00 - 13.00 : Transfer to Munich
(Note: the travel costs are not included in registration fees)

14.00 - 15.30 : Demonstration of the humanoid robot Lola in TU Munich