| Alternative Locomotion Seminars... | ||
| ATR Legged Robots Reading Group [website] | ||
| Chris Atkeson's Legged Locomotion Seminar [website] | ||
| (Dead) MIT Legged Locomotion Class [website] | ||
| University of Zuerich's Locomotion Seminar [website] | ||
| University of Tuebingen Class (partially in German) [website] | ||
| Introduction | ||
| 24. Sept. | Chapter 1: Introduction [slides] | Srideep |
| Chapter 2: Hopping on One Leg in the Plane [slides] | Joanne | |
| 28. October | Chapter 3: Hopping in Three Dimensions | Stefan |
| Chapter 4: Biped and Quadruped Running [slides.pdf] [slides.key] Δ | Jan | |
| 5. Nov. | Chapter 5: Symmetry in Running [slides.pdf] [slides.ppt] | Michael |
| Chapter 6: Alternatives for Locomotion Control [slides.pdf] [slides.ppt] | Peyman | |
| 12. Nov. | Chapter 7: Tabular Control of Running | Stefan |
| Chapter 8: Research on Animals and Vehicles [slides.pdf] [slides.ppt] | Rick | |
| Biped robots that once walked... | ||
| 19. Nov. | Video Session on Walking & Running Robots [slides.key] Δ | Srideep |
| ZMP Control | ||
| 26. Nov. | Introduction: Vukobratovic, Biped Locomotion, pages 17-27 , 1990 [pdf] and Capi's ZMP Slides at ATR [pdf], Jans Slides [slides.key] Δ | Jan |
| 20. Jan. | Invited Speaker: Dr. Changjiu Zhou on Research Activities of his group in Humanoid Robotics at Singapore Polytechnic [slides][videos] Δ[website] | Changjiu |
| M. Vukobratovic et al., Zero-Moment Point - Proper Interpretation Unpublished Version [pdf], IEEE Humanoids 2001 Version[pdf] | Stefan | |
| 27. Jan. | Changjiu on "Control and Learning of Biped Locomotion" [slides][videos] Δ[website] | Changjiu |
| 5. Febr. | S. Kagami et al., A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot, Autonomous Robots 2002 [pdf]. | Peyman |
| A. Goswami, Postural stability of biped robots and the foot rotation indicator (FRI) point, IJRR 1999 [pdf]. | Stefan | |
| 17. Febr. | Q. Huang et al., Planning Walking Patterns for a Biped Robot, IEEE Trans.R&A, 2001 [pdf] | Jan |
| Analytical Approaches | ||
| 24. Febr. | C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E.R. Westervelt, C. Canudas-de-Wit, and J.W. Grizzle RABBIT: A Testbed for Advanced Control Theory, Reprint, IEEE Control Systems Magazine, Vol. 23, No. 5, October, 2003, pp. 57-79 [pdf][slides][videos] Δ[website] | Mike |
| J.W. Grizzle, Gabriel Abba and Franck Plestan, Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects,IEEE Trans on AC, Volume 46, No. 1, Jan. 2001, pp. 51-64. [pdf] J. W. Grizzle, An Analytical Approach to Asymptotically Stable Walking in Planar Biped Robots , Super Mechano Symposium Conference, Nov. 19-20, 2001, Japan [pdf] | Srideep | |
| Passive Dynamic Walking | ||
| 2. March | McGeer Walkers [slides] T. McGeer, Passive Dynamic Walking, IJRR, pp.62-82,1990. [pdf] [pdf] T. McGeer, Passive Walking with Knees, IEEE ICRA '90, pp. 1640-1644. [pdf] | Rick |
| Ruina Analysis of Passive Dynamic Walking M. Coleman and A. Ruina. A Tinkertoy R model that walks. Physical Review Letters, 1997. [pdf][videos] Δ[website] Collins, S. H., Wisse, M., and Ruina, A. (2001). "A 3-D passive-dynamic walking robot with two legs and knees." International Journal of Robotics Research [pdf][videos] Δ | Stefan | |
| 9. March | Kuo Analysis of Passive Dynamic Walking [slides] Kuo, A. D. (1999) Stabilization of lateral motion in passive dynamic walking, International Journal of Robotics Research, 18(9): 917-930. [pdf][website] | Peyman |
| Actuating Passive Dynamic Walking [slides] Russ Tedrake, Teresa Weirui Zhang, Ming-fai Fong, and H. Sebastian Seung. (2004) Actuating a Simple 3D Passive Dynamic Walker. IEEE International Conference on Robotics and Automation (ICRA '04) [pdf][video] Δ Steve Collins, Andy Ruina, Russ Tedrake, and Martijn Wisse. (2004) Powered bipedal robots based on unpowered walking toys. Submitted to Nature.[pdf] | Jo-Anne | |
| Virtual Model Control | ||
| J. Pratt, P. Delworth and G. Pratt, Virtual Model Control of a Bipedal Walking Robot , IEEE ICRA '97, pp. 193-198 [pdf]. J. Pratt and G. Pratt, Intuitive Control of a Planar Bipedal Walking Robot , IEEE ICRA '98, pp. 1024-2021 [pdf]. | ||
| Biomechanics & Neurocontrol of Locomotion | ||
| Mechanics of Locomotion? | ||
| K. G. Pearson and J. E. Misiaszek, Locomotion , University of Alberta, Edmonton, Canada. ENCYCLOPEDIA OF LIFE SCIENCES, 2001. Nature Publishing Group [pdf]. | ||
| Neural Control of Locomotion Avis H. Cohen, Control principles for locomotion - looking toward biology, AMAM 2003 [pdf]. C. Capaday, The special nature of human walking and its neural control, Trends in Neuroscience, vol. 25, no. 7 (2002) [pdf] | ||
| How do children learn to Walk? Thelen, E. (1986). Treadmill-elicited stepping in seven-month-old infants. Child Development, 57, 1498-1506. Burnside, L. H. (1927). Coordination in the Locomotion of Infants, Genetic Psychology Monographs, 2, 283-341. Bertenthal, B. I. & Bai, D. L., (1989). Infants' sensitivity to optical flow for controlling posture. Developmental Psychology, 25, 936-945. Benson, J.B. (1990). The significance and development of crawling in human infancy. In J. E. Clark, J. H. Humphrey, (Eds.) Advances in motor development research, Vol. 3, 91-142. New York: AMS Press, Inc. Also compiled into: Richard Hefti, Learning to Walk, Seminar Thesis at Uni Zurich. | Jan | |
| Biped Gaits | ||
| J. Hodgins, Biped Gait Transitions, IEEE ICRA '91, pp. 2091-2097 K. Tsujita, K. Tsuchiya and A. Onat, Adaptive Gait Pattern Control of a Quadruped Locomotion Robot, IROS 2001 N. Troje, Decomposing biological motion: A framework for analysis and synthesis of human gait patterns , Journal of Vision 2, 371-387 (2002) | ||
| Between Passive and Active Dynamic Walking? | ||
| F. Yamasaki, K. Hosoda and M. Asada, An Energy Consumption Based Control for Humnaoid Walking , IROS (2002) J. Camp, Powered "Passive" dynamic walking , Master of Engineering Project Report, Cornell University (1997) | ||
| Central Pattern Generators | ||
| MORE! E. Klavins, H. Komsuoglu, R. Full and D. E. Koditschek, The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion, in Neurotechnology for Biomimetic Robots, MIT Press [pdf]. | ||
| Reinforcement Learning for Locomotion | ||
| H. Benbrahim and J. Franklin, Biped Dynamic Walking using Reinforcement Learning, Robotics and Autonomous Systems, vol.22, 1997. M. Sato et. al., Reinforcement Learning for Biped Locomotion , ICANN 2002 C. Zhou, Dynamic balance of a biped robot using reinforcement learning, (several papers 2001-3) [pdf.tgz] Δ J. Morimoto et. al., Robust Low Torque Biped Walking using Differential Dynamic Programming with a Minimax Criterion, submitted to CLAWAR 2002. | ||
