The 9.5th International Symposium on Adaptive Motion of Animals and Machines
General Chair - Emily Standen
Welcome to AMAM2021 Virtual. Posters below have been organized into tracks. Please browse the posters, leave comments or questions in the discussion tab or plan to return for an in person discussion via Zoom or other 'live' platform with the presenter.
More info: https://amam2021.squarespace.com/
Filter displayed posters (145 keywords)
Simulation (9)
Control (7)
Quadruped (7)
Balance (6)
Muscle (5)
Navigation (4)
Swimming (4)
Bipedal (3)
Gait (3)
Legged Locomotion (3)
neuromechanics (3)
upper limb (3)
Adaptation (2)
Compliant Actuation (2)
Evolutionary Algorithm (2)
Flying (2)
Kinematics (2)
RoboZoo (2)
Sensorimotor (2)
Walking (2)
leg-less and leg-more (2)
quadruped (2)
robophysics (2)
terradynamics (2)
show more...
3-dimensional (1)
AMAM2021 (1)
Adaptability (1)
Adhesion (1)
Archosaur (1)
Arms (1)
Artificial muscle (1)
Auto-tracking (1)
Autonomous Drones (1)
Ballroom dance (1)
Bio-inspired robot (1)
Biologically inspired neural networks (1)
Biomimetics (1)
Brainless (1)
Burrowing (1)
Chaotic Neural Oscillator (1)
Complex Object (1)
Compliant actuation (1)
Energy Efficiency (1)
Energy efficiency (1)
Evolution (1)
FW-MAV (1)
Flapping Wing (1)
Foot (1)
Force sensor (1)
Gecko (1)
Insect (1)
Insect wing (1)
Legged locomotion (1)
Locomotion (1)
MAV (1)
Machine Learning (1)
Motion Capture (1)
Motor Control (1)
Multi-legged locomotion (1)
Navigation and Exploration (1)
Neuromechanical Simulation (1)
Neuromechanics (1)
Neuromuscular (1)
Obstacle traversal; Active adjustments; Terradynamics; Robotic model (1)
Optimization (1)
Paleontology (1)
Physical interaction (1)
Pneumatic Artificial Muscle (1)
Quadrupedal locomotion (1)
Sensing (1)
Sensory feedback (1)
Size (1)
Snake locomotion (1)
Synchronoziation (1)
Upper Limb (1)
Windlass (1)
Wing vein (1)
active sensing (1)
adaptiv control (1)
aerodynamics (1)
alternative navigation (1)
asynchronous muscle (1)
autonomous learning (1)
biomechanics (1)
complex terrain (1)
contact (1)
curriculum learning (1)
decentralized control (1)
dynamical systems (1)
electromyography (1)
exoskeleton (1)
feedback (1)
flexible appendage (1)
flight (1)
flying insects (1)
force (1)
gripping (1)
hexapod gait (1)
hopping (1)
hybrid actuation and control design (1)
hydrodynamics (1)
in-hand manipulation (1)
insect (1)
joint (1)
kinematics (1)
latency (1)
legged locomotion (1)
legged robot (1)
legged-locomotion (1)
locomotion (1)
magnetic navigation (1)
magnetoreception (1)
mechanical design (1)
motor design (1)
muscle synergy (1)
musculoskeletal (1)
neurocontrol (1)
neuromuscular (1)
neuromuscular interaction (1)
nonlinear oscillator (1)
ornithopter (1)
oscillation (1)
parallel and passive compliance (1)
physics-based simulations (1)
posture control (1)
power (1)
power density (1)
predictive filtering (1)
reflex-type control (1)
robotics (1)
sensorimotor (1)
sensorimotor delay (1)
sensors (1)
sensory feedback (1)
silkmoth (1)
snake (1)
soft robotics (1)
spine structure (1)
standing (1)
stiffness control (1)
upper Limb (1)
upper-limb (1)
walking control (1)
wearable robots (1)
์Neural Control (1)
Show Posters:
Tracks
▼ AMAM2021 Welcome Back to top
Welcome to AMAM2021 Virtual
'Local' Organizing Committee: Emily Standen, Cassandra Donatelli and Keegan Lutek
Abstract
Welcome to AMAM2021 Virtual.
This poster provides quick access to:
The Full Abstract Booklet
The clickable Program (also available below via the Watch Presentation button)
The 24hr COFFEE BREAK - PASSWORD: AMAM2021 (also available below via the Chat with Presenter button)
Posters are organized by track, please have fun exploring posters, visiting 'live' discussions with presenters and leaving comments and questions.
Presenters: Keep an eye on your discussion chat to respond to attendees and to possibly set up more 'live' opportunities to meet with interested AMAM members.
If you have any questions or concerns throughout AMAM please contact AMAM2021info@uottawa.ca.
Have a great conference!
This poster provides quick access to:
The Full Abstract Booklet
The clickable Program (also available below via the Watch Presentation button)
The 24hr COFFEE BREAK - PASSWORD: AMAM2021 (also available below via the Chat with Presenter button)
Posters are organized by track, please have fun exploring posters, visiting 'live' discussions with presenters and leaving comments and questions.
Presenters: Keep an eye on your discussion chat to respond to attendees and to possibly set up more 'live' opportunities to meet with interested AMAM members.
If you have any questions or concerns throughout AMAM please contact AMAM2021info@uottawa.ca.
Have a great conference!
Presented by
General Chair: Emily Standen
Institution
University of Ottawa
Keywords
AMAM2021
Chat with Presenter
Available COFFEE BREAK 24hr access June 22-25th PASSWORD: AMAM2021
Join the Discussion
Watch Presentation
▼ Bipedal and Balance Back to top
A Unified Reduced Order Model for Standing Balance Captures Biological Balance Strategy Preferences
Thomas Huckell and Amy Wu
Abstract
Humanoid standing balance typically encompass three discrete strategies of ankle, hip and toe balancing. Here we present a unified reduced order model that captures all three balancing strategies and used trajectory optimization to simulate push recovery. We compared the contribution of the three balancing strategies on the unified model as well as compared it’s performance across three other reduced order balancing models over a range of push disturbances. We found the unified model improves balancing performance while adopting a hierarchical balance strategy that parallels human balance strategy preferences.
Presented by
Thomas Huckell
<thomas.huckell@queensu.ca>
Institution
Queen's University, Department of Mechanical & Materials Engineering
Other Affiliations
Ingenuity Labs
Keywords
Balance, Simulation, Legged Locomotion
Chat with Presenter
Available June 24, 10-11am, 1-2pm, 7-8pm EST
Join the Discussion
Watch Presentation
An adaptive balancing robot with exceptional touch sensitivity driven by an analog sensorimotor loop
Manfred Hild, Benjamin Panreck, Simon Untergasser, Maximilian Tolksdorf
Abstract
We present a simple analog circuit which equips a geared DC motor and everything that is mechanically
connected to it with exceptional touch sensitivity. For example, the system is able to balance a triangle on its tip while at the same time adapting to lateral shifts of the underlying surface. The circuit effectively mimics the reflex loop of muscle spindles: When a muscle lengthens due to an external force, the induced nerve activity causes the muscles to go against the external force.
Presented by
Manfred Hild
<hild@beuth-hochschule.de>
Institution
Neurorobotics Research Laboratory, Beuth University of Applied Sciences, Berlin
Keywords
Sensorimotor, Sensing, Muscle
Chat with Presenter
Available June 22nd 9-10am EDT, June 24th 2-3am EDT, June 24th 4-5pm EDT
Join the Discussion
Watch Presentation
Artificial Receptor for Brainless Balancing Control
Yoichi Masuda, Ryo Wakamoto, Masato Ishikawa
Abstract
This paper reports an artificial receptor device that continuously adjusts air pressure according to the external force applied to the device. An essential feature of the device is that it comprises purely mechanical elements without a computer. The mechanical devices actuate the robot body while adjusting the robot motion in response to stimuli from the body–environment dynamics. We performed a simple experiment in a posture control task using a musculoskeletal biped robot. The result suggests a possibility of the posture control of legged robots without any computers.
Presented by
Yoichi Masuda
<masuda@mech.eng.osaka-u.ac.jp>
Institution
Osaka University, Department of Mechanical Engineering
Keywords
Brainless, Balance, Control, Quadruped, Bipedal
Chat with Presenter
Available [1] June 22th 10:00-11:00 EST, [2] June 23th 0:00-1:00 EST, [3] June 23th 10:00-11:00 EST
Join the Discussion
Watch Presentation
How accurately can we estimate the center of mass state during human running?
Charlotte Le Mouel
Abstract
For stability analyses, complex movement patterns such as running are often simplified to the trajectory of the body center of mass (CoM). Kinematic models of different complexity are used to estimate the CoM position during movement, but these have not been validated, because a ground truth measurement of CoM position is missing. During the flight phases of running, the CoM acceleration is equal to gravity. I compare the CoM accelerations of different kinematic models to this ground truth. Even the state-of-the-art model, requiring 38 kinematic markers, has a large error in acceleration of 2.2 m/s2. Reduced marker sets (such as hip markers) have an even larger error, and do not reproduce the trial-by-trial variability in CoM state, which will impact the results of any stability analysis.
Presented by
Charlotte Le Mouel
Institution
Institute of Sports Science, University of Münster, Germany
Keywords
Balance, Bipedal
Chat with Presenter
Available Tuesday 22 + Wednesday 23: 10 - 10:30 am Paris / 17 - 17:30 pm Tokyo; Thursday 24 + Friday 25: 17 - 17:30 pm Paris / 11 - 11:30 am EST; please write me an email for further timeslots!
Join the Discussion
Watch Presentation
Posture control for standing contributes to walking control
Chika Yamane, Tomoko Hioki, Shoko Kaichida, Jun Nishii
Abstract
In this study, we analyzed common muscle synergies between walking and slackline tasks to elucidate how posture control during standing contributes to walking control.
Our results suggest that posture control which suppresses the sway of the trunk during standing contributes not only to postural control during walking but also to gait control such as propulsive force generation and stabilization of walking by leg retraction before grounding.
Presented by
Chika Yamane
Institution
Yamaguchi University, Yamaguchi Junior College, National Institute of Technology, Tokuyama College, Japan
Keywords
walking control, posture control, muscle synergy, standing
Chat with Presenter
Available June 23th 7:00-7:40am EST, June 24th 7:00-7:40am EST, June 25th 7:00-7:40am EST
Join the Discussion
Watch Presentation
Stiffness and work contributions of the windlass in human feet
Ali Yawar, Carolyn M. Eng, Steven Tommasini, Madhusudhan Venkadesan
Abstract
The windlass mechanism of the foot couples toe dorsiflexion to arch support and is considered crucial to the foot's ability to withstand propulsive loads.
Its effect on the energetics of locomotion has not yet been studied.
We hypothesize that the windlass helps extract additional power from proximal leg joints by letting the foot function as an elastic body with tunable neutral geometry.
We test this hypothesis using a combination of cadaveric experiments, mathematical modeling, and in vivo locomotion studies.
Presented by
Ali Yawar
<ali.yawar@yale.edu>
Institution
Yale University
Keywords
Foot, Windlass, Locomotion
Chat with Presenter
Available June 22, 9-10 AM, 1-2 PM, 5-6 PM
Join the Discussion
Watch Presentation
Using Arms for Balance and Locomotion of Humanoid Robots
Charles Khazoom, Matthew Chignoli, Sangbae Kim
Abstract
We use trajectory optimization to quantify the effect of arms on balance and disturbance recovery of the MIT humanoid.
Presented by
Charles Khazoom
Institution
Massachusetts Institute of Technology
Keywords
Bipedal, Balance, Arms
▼ Evolution, Adaptation, and Learning Back to top
Design of a Robot Gripping System: Theoretical Considerations and a New Solution
Jose Zarate, Stefan Lutherdt, Hartmut Witte
Abstract
Soft robots, materials science, and extendable electronic technology have developed rapidly. Compared to rigid grippers, adaptive grippers can grab a broader range of objects. The gripping joints of the robot described here are made up of an elastic transmission based on a flexible gripper pulled by a series of wires or ropes. This new soft gripper offers an additional way to solve problems that a rigid gripper cannot solve.
Presented by
José Zárate
Institution
Technische Universität Ilmenau
Keywords
upper Limb, gripping
Enhancing Acquisition of Kinematic Data using a NARX Network
Mahdiar Edraki, Zhaoran Zhang, Dagmar Sternad
Abstract
We use a machine learning approach to fill gaps in the kinematic data of a flexible whip, obtained through a marker-based motion capture system. We show that our proposed approach is significantly more accurate than existing approaches such as using low-rank decomposition to estimate missing marker positions. The results of this study are relevant to the robot and animal movement science community as it introduces an automated method to fill missing marker data in a kinematic dataset.
Presented by
Mahdiar Edraki
Institution
Northeastern University
Other Affiliations
Columbia University
Keywords
Auto-tracking, Kinematics, Machine Learning, Motion Capture
Chat with Presenter
Available Tuesday June 22nd: 11am-12pm, 5pm-6pm - Wednesday June 23rd: 9am-10am, 3pm-4pm - Thursday June 24th: 10am-11am
Join the Discussion
Watch Presentation
Gait Adaptation of a Dung Beetle Rolling a Ball up a Slope
Binggwong Leung; Nienke Bijma; Emily Baird; Marie Dacke; Stanislav Gorb; Poramate Manoonpong
Abstract
A previous study describes the gait pattern of the ball rolling behavior on flat terrain, but little is known how the dung beetles adapt their movement to roll a ball up a slope. Thus, in this work, we perform a visual investigation of dung beetles’ ball rolling behavior on 0 and 20-degree slopes and perform statistical analysis on the gait patterns to identify how dung beetles adapt their movement to roll a ball up a slope. We found that the dung beetle’s front legs and hind legs tend to stay in contact with the ground and dung ball more often in the 20-degree slope than in the 0-degree slope condition.
Presented by
Binggwong Leung
<binggwong.l_s17@vistec.ac.th>
Institution
Vidyasirimedhi Institute of Science and Technology
Other Affiliations
Bio-inspired Robotics & Neural Engineering Lab (BRAIN LAB)
Keywords
Insect, Gait, Adaptation
Chat with Presenter
Available June 23rd (2:00am-3:00am EDT and 11:00pm-12:00am EDT), June 24th (12:00pm-1:00pm EDT)
Join the Discussion
Watch Presentation
Manipulating a Bullwhip: Simple Control of a Complex Object?
Aleksei Krotov, Reza Sharif Razavian, Marta Russo, Mahdiar Edraki, Moses C. Nah, Neville Hogan, and Dagmar Sternad
Abstract
Humans show unprecedented dexterity when interacting with objects with nonlinear, multiple degree-of-freedom dynamics - yet little is known what underlies such dexterity. Human participants hit the target with the 1.6-m bullwhip with tracked whip kinematics. The movement of the whip largely agreed with either of the two models: 1-D unfolding string or a rotating rod.
Presented by
Aleksei Krotov
Institution
Northeastern University, Department of Bioengineering
Other Affiliations
Northeastern University, Action Lab
Keywords
Motor Control, Kinematics, Adaptation, Complex Object
Chat with Presenter
Available June 22 10-11am EDT and 5-6pm EDT, June 23 10-11am EDT, June 24 5-6pm EDT
Join the Discussion
Watch Presentation
Role of adaptive camber on optimal flapping wing performance
Alexander Gehrke, Karen Mulleners
Abstract
We develop and test a novel membrane wing holder for flapping wing systems. With experimental optimizations we show that it can increase the aerodynamic performance in terms of lift and efficiency significantly.
Presented by
Alexander Gehrke
<alexander.gehrke@epfl.ch>
Institution
Ecole polytechnique federale de Lausanne, Institute of Mechanical Engineering, Unsteady flow diagnostics laboratory
Keywords
Flying, Flapping Wing, Evolutionary Algorithm
Chat with Presenter
Available June 22: 14:00 - 19:00 (CEST), June 23: 10:00 - 12:00 (CEST), June 24: 14:00 - 19:00 (CEST)
Join the Discussion
Watch Presentation
Size and shape of terrestrial animals
Neelima Sharma, Madhusudhan Venkadesan
Abstract
Small land animals tend to have a crouched or sprawled posture, whereas larger animals are generally more upright. Legged locomotion biomechanics is considered central to the evolution of such size-dependent body shape in birds and mammals. But debates continue about how body shape affects locomotion, the relative roles of shared ancestry versus adaptation, and how the natural environment affects locomotion. We hypothesize that lateral stability during locomotion on the rough, uneven terrain underlies the scaling of frontal aspect ratio with animal size. We show that the scaling law arising from the need for stability on natural terrain correctly predicts the frontal aspect ratio scaling across 366 terrestrial vertebrates and invertebrates, ranging from 28 mg to 22,000 kg, so that smaller animals have a wider aspect ratio. Thus, stability demands on natural terrain likely drove the macroevolution of body aspect ratio across multiple clades of terrestrial animals with diverse body plans, gait styles, and limb morphologies.
Presented by
Neelima Sharma
Institution
Department of Mechanical Engineering and Materials Science, Yale University
Keywords
Balance, Size, Evolution
Chat with Presenter
Available June 22nd, 23rd, 24th, 25th, 9 AM-6 PM EDT
Join the Discussion
Watch Presentation
▼ Flying, Swimming, Burrowing, and Climbing Back to top
Artificial wings for flapping MAV imitating insect wings
Risa Ishiguro, Takumi Kawasetsu, Koh Hosoda
Abstract
In recent years, flapping MAVs have attracted more attention. We aimed to experimentally clarify the relationship between wing vein structure and movement performance using artificial wings for flapping MAV. We fabricated nine types of artificial wings with three different wing veins and three different thicknesses of leading edges to observe the movement performance and compare the flapping behavior. Artificial wings with wing veins imitating those of insects did not show relatively high mobility performance. When the leading edge was thin, the flapping tended to be in the secondary mode.
Presented by
Risa Ishiguro
<risa.ishiguro@arl.sys.es.osaka-u.ac.jp>
Institution
Osaka University, Graduate School of Engineering Science, Department of Systems Innovation
Keywords
Biomimetics, Insect wing, MAV, Wing vein
Chat with Presenter
Available June 23th 12-13am, 3-4pm, 7-8pm JST
Join the Discussion
Watch Presentation
Cockroaches open wings and flail legs to self-right on the ground
Ratan Othayoth, Chen Li
Abstract
Animals can, and robots should, use different types of appendages together to propel and perturb themselves to self-right when overturned, a strenuous yet crucial locomotor task. To do so, cockroaches often pushes its wings against the ground while also flailing its legs vigorously. Here, we studied whether wing opening and leg flailing together facilitate strenuous ground self-righting. . A potential energy landscape model revealed that, although wing opening did not generate sufficient kinetic energy to overcome the high pitch potential energy barrier to somersault, it reduced the barrier for rolling, facilitating the small kinetic energy from leg flailing to probabilistically overcome it to self-right.
Presented by
Ratan Othayoth
<ratan@jhu.edu>
Institution
Johns Hopkins University, Department of Mechanical Engineering
Keywords
Flying, Balance
Chat with Presenter
Available June 23rd Wed, 11am-12p EDT
Join the Discussion
Decentralized Control Mechanisms for a Walking Fish (Polypterus senegalus)
Shura Suzuki, Takeshi Kano, Emily M. Standen, Auke J. Ijspeert and Akio Ishiguro
Abstract
We present a sensory feedback control that reproduces the walking behaviors of a walking fish, Polypterus senegalus, and salamander. By considering a shared control pattern of fish and amphibians, we aimed to understand the potential motor control underlying their common ancestors, namely, the first terrestrial vertebrates that transitioned from aquatic to terrestrial habitat.
Presented by
Shura Suzuki
Institution
Osaka University, JSPS, Tohoku University, University of Ottawa and EPFL
Keywords
Walking, sensory feedback, neurocontrol, neuromechanics
Chat with Presenter
Available 22-25th, 10-18 JST, 21-29 EDT, 1-9 GMT, and please contact me about other dates and times
Join the Discussion
Watch Presentation
Emergent wingstroke in asynchronous insects and robots is governed by time-delayed strain rate feedback
James Lynch, Jeff Gau, Simon Sponberg, Nick Gravish
Abstract
We present an newly-adapted model for delayed-stretch activation (dSA) found in asynchronous insect muscle and incorporate it into a robotic system to explore the respective influence of muscle parameters (dSA rate and strength) and mechanical system parameters (stiffness, inertia, etc.) on the emergent wing stroke dynamics of asynchronous flapping systems. Our results demonstrate how wing beat frequency and flapping power depend on the rate of dSA, corroborating results from the muscle physiology literature. The system we've developed opens the door to a deeper understanding of how feedback, muscle properties, and the mechanical properties of insect anatomy and robotic flappers combine to produce emergent flapping behavior.
Presented by
James Lynch
Institution
University of California, San Diego
Keywords
flying insects, asynchronous muscle, biomechanics, nonlinear oscillator, robotics, robophysics
Chat with Presenter
Available June 22 9-10AM PST; June 22 4-5PM PST; June 24 12-1PM PST
Join the Discussion
Synchronized swimming: adaptive gait synchronization through mechanical interactions instead of communication
Zhuonan Hao, Wei Zhou, Nick Gravish
Abstract
We present a neuromechanical hypothesis for emergent synchronization through contact and demonstrate the robot-robot interaction by means of limit cycle in a toy model. Further, the control law is executed on multi-link robot system for experimental observation.
Presented by
Zhuonan Hao
Institution
University of California San Diego, Department of Mechanical and Aerospace Engineering
Keywords
Swimming, Synchronoziation
Chat with Presenter
Available 10-11am EST June 24th, and 1-2am EST June 25th
Join the Discussion
Watch Presentation
The simple reason why pressure sensors are not adequate to replicate the lateral line in free swimming fish-like robots
Laura Paez, Astrid Petitjean, Kamilo Melo, Auke Ijspeert
Abstract
Undulatory swimming is a robust and efficient means of locomotion of aquatic species. We wish to replicate certain undulatory swimming behaviors on robotic systems in order to understand underlying biological principles of swimming. Whereas local pressure defines many aspects of body fluid interaction, its choice is inadequate. We show that it is not possible to obtain desired dynamic pressure component (i.e. hydrodynamic force and tangential/parallel flow speed, essential for peripheral control and rheotaxis) extracted from static pressure sensor readings. These sensors were chosen as an intuitive way to measure flow because of their high bandwidth and sensitivity, however effects from 3D aquatic environment were unforeseen and thus neglected.
Presented by
Laura Paez
Institution
École polytechnique fédérale de Lausanne (EPFL)
Other Affiliations
KM-RoBoTa Sarl
Keywords
Swimming, sensors
Chat with Presenter
Available June 22th 8-9AM EDT, June 22th 2-3PM EDT, June 22th 6-7PM EDT
Join the Discussion
Versatile Gecko-Inspired Climbing Robot
Donghao Shao, Weijia Zong, Zhendong Dai, Aihong Ji and Poramate Manoonpong*
Abstract
The work shows a versatile gecko-inspired climbing robot which is build on the analysis of real gecko's system. The process of extracting the principles of real gecko and applied those to the design of hardware and software of gecko-inspired robot were given. The primary performance validation of gecko-inspired robot were shown by the conducting of obstacle-overcoming experiments on the slope.
Presented by
Donghao shao
Institution
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
Other Affiliations
Embodied AI & Neurorobotics Lab, SDU Biorobotics, The Mæsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense M, Denmark
Keywords
Gecko, Bio-inspired robot, Adhesion, Adaptability
Chat with Presenter
Available June 26rd (9:30 AM)-(10:00 AM) EST
Join the Discussion
Watch Presentation
Vortex interactions during in-line swimming in live fish: Implications for fish schooling
Robin Thandiackal, George V. Lauder
Abstract
Schooling in fish has long been hypothesized to provide hydrodynamic advantages. Here we investigated the scenario of in-line swimming where fish swim directly in the wake of each other. For this purpose, we used a mechanical flapping foil and exposed trout to artificially generated fish-like thrust wakes and recorded both kinematics and visualized the flow. Our preliminary results indicate that fish can exploit the vortex structures when swimming in these wakes and possibly swim more efficiently.
Presented by
Robin Thandiackal
Institution
Harvard University
Keywords
Swimming, hydrodynamics
Chat with Presenter
Available June 22-25, 9-10 am EDT
Join the Discussion
Within-wingstroke body oscillations shape the aerodynamic force and power of wild silkmoths
Usama Bin Sikandar, Brett Aiello, Simon Sponberg
Abstract
Silkmoths generally have larger wings and slower wingbeats as compared to other insects. During forward flight, silkmoths experience large body oscillations that are coupled with their flapping wing motion. In this study, we explore the physical mechanism of how these body oscillations affect wing aerodynamics and flight performance.
Presented by
Usama Bin Sikandar
<usama@gatech.edu>
Institution
Georgia Institute of Technology
Other Affiliations
Agile Systems Lab
Keywords
insect, flight, aerodynamics, silkmoth, oscillation, force, power, kinematics, FW-MAV, ornithopter
▼ Leg-less and leg-more Back to top
Development of a sensorized snake robot to study limbless locomotion in complex 3-D terrain
Divya Ramesh, Qiyuan Fu, Kaiwen Wang, Yaqing Wang, Ratan Othayoth, Chen Li
Abstract
Snakes can quickly and stably traverse complex 3-D terrain, presumably by using sensory feedback control to generate appropriate propulsive forces distributed along its body. However, snake robots are still inferior to animals in efficiency and stability when traversing similar terrains due to a lack of understanding of how snakes sense and control the body-terrain contact forces to effectively generate propulsion while maintaining stability. To fill this gap, we developed a sensorized snake robot that has a low-cost, flexible, piezoresistive sensor array distributed along the entire length of the robot body to measure the contact forces. We plan to use our sensorized robot to perform systematic experiments to understand the principles of how to control body deformation and terrain contact to generate the right forces while maintaining stability. Once we obtain a better understanding of how contact forces relate to body configuration and motion, we plan to develop sensory feedback control strategies for the robot to move over more complex 3-D terrain similarly as snakes do.
Presented by
Divya Ramesh
Institution
Johns Hopkins University, Department of Mechanical Engineering
Keywords
leg-less and leg-more
Chat with Presenter
Available June 23 2-3 pm EST, 6-7 pm EST and 11pm-12am EST
Join the Discussion
Watch Presentation
Joint stiffness contributes to hexapod gait stabilization
Jun Nishii, Masayuki Nagahori, Dai Owaki
Abstract
We examined the gait pattern of a hexapod using a simple reflex-type control model without inter-limb interaction. The results showed that plantar force-dependent joint stiffness could be a key to stabilization for locomotion. Furthermore, such a control system also generates forward propagating waves of ipsilateral leg movements like insects, which realize stable and low-cost locomotion.
Presented by
Jun Nishii
Institution
Yamaguchi University, Tohoku University
Keywords
hexapod gait, reflex-type control, decentralized control, stiffness control
Chat with Presenter
Available June 23th 20:00-21:00 EST, June 24th 19:00-20:00EST.
Join the Discussion
Watch Presentation
On the Determinant of Gait Patterns in Myriapod Locomotion
Kotaro Yasui, Takeshi Kano, Shigeru Kuroda, Hitoshi Aonuma, Yumino Hayase, Ryo Kobayashi, Akio Ishiguro
Abstract
Myriapod locomotion is achieved by propagating the leg waves along the body axis. The gait patterns vary according to the species; however, the factor determining the gait has not been clarified. To address this issue, we attempted to capture the essence of control mechanisms underlying myriapod locomotion by building a hypothesis-driven mathematical model based on simple control rules. In simulation, our proposed model succeeded in reproducing different leg waves and the results suggest that avoiding crossing of the leg tips between adjacent legs may be essential for the determination of gait patterns.
Presented by
Kotaro Yasui
<k.yasui@riec.tohoku.ac.jp>
Institution
Tohoku University, Frontier Research Institute for Interdisciplinary Sciences
Keywords
Gait, Multi-legged locomotion, Simulation
Chat with Presenter
Available June 24th 9-10am(EDT), 3-4pm(CEST), 10-11pm(JST). Please contact me if you want other time slots.
Join the Discussion
Watch Presentation
Principles of multi-legged locomotor transitions in complex 3-D terrain
Ratan Othayoth, Qihan Xuan, Yaqing Wang, Chen Li
Abstract
To traverse complex three-dimensional terrain with large obstacles, animals and robots must transition across different modes such as walking, running, and climbing. However, most mechanistic understanding of terrestrial locomotion concerns how to generate and stabilize near-steady-state, single-mode locomotion. We know little about how to use physical interaction to make robust locomotor transitions. Here, we review our progress towards filling this gap by discovering general principles of multi-legged locomotor transitions, using simplified model systems representing distinct challenges in complex three-dimensional terrain. Remarkably, general physical principles emerge across diverse model systems, by modelling locomotor–terrain interaction using a potential energy landscape approach.
Presented by
Ratan Othayoth
<ratan@jhu.edu>
Institution
Johns Hopkins University, Department of Mechanical Engineering
Keywords
leg-less and leg-more, sensorimotor, terradynamics, robophysics, neuromechanics
Chat with Presenter
Available June 23rd Wed, 11am-12p EDT
Join the Discussion
Self-tunable Tegotae-based Control for Snake Locomotion
Kotaro Yasui, Noriyuki Otaki, Takeshi Kano, Akio Ishiguro
Abstract
Snake can alter their locomotion patterns in response to environment. To investigate the inherent control principles that generate various types of locomotion patterns, we previously proposed a decentralized control scheme with local sensory feedback based on Tegotae, a concept describing how well a perceived reaction matches an expectation, and reproduced two different locomotion patterns, scaffold-based locomotion in unstructured environments and concertina locomotion in narrow spaces. However, because of conflict between feedbacks working at different body parts, the robot implementing this control scheme could not move smoothly in some cases. In order to solve this problem, in this study, we improved the previous control scheme by introducing an adjustment of feedback gain according to reaction force from environment, and verified it through 2D simulation.
Presented by
Kotaro Yasui
<k.yasui@riec.tohoku.ac.jp>
Institution
Tohoku University, Frontier Research Institute for Interdisciplinary Sciences
Keywords
Snake locomotion, Sensory feedback, Simulation
Chat with Presenter
Available June 23th 9-10am(EDT), 3-4pm(CEST), 10-11pm(JST). Please contact me if you want other time slots.
Join the Discussion
Watch Presentation
Snakes traversing rubble-like terrain
Qiyuan Fu, Henry C. Astley, Chen Li
Abstract
To test the hypothesis that vertical body bending is as important as lateral body bending during limbless traversal of complex rubble-like 3-D terrain, we challenged corn snakes to traverse a rubble-like arena. The animals traversed the terrain by propagating a 3-D body bending down the body with little slip. The animal used vertical body bending to generate contact points with the terrain likely for pushing as much as lateral bending.
Presented by
Qiyuan Fu
Institution
Department of Mechanical Engineering, Johns Hopkins University; Department of Biology, University of Akron
Keywords
snake, locomotion, 3-dimensional, complex terrain, contact, terradynamics
Chat with Presenter
Available June 23rd 8-9 AM/10-11 PM EDT
Join the Discussion
▼ Muscles and More Back to top
Bio-Inspired Tendon-driven Robotic Limbs
Darío Urbina-Meléndez, Daniel Wang, Francisco Valero-Cuevas
Abstract
Animals have neuromechanical properties that grant them enviable mechanical performance. We emphasize the construction of tendon-driven robotic limbs to exploit neuromechanical properties for robots and advance neuro-science research. We are presenting a model employing active actuators and well routed tendons, as well as a model pairing active actuators with passive elastic elements.
Presented by
Daniel Wang
Institution
University of Southern California
Other Affiliations
Research supported by the Department of Defense CDMRP (grant MR150091), DARPA-L2M program (awardW911NF1820264), and National Institutes of Health(award R21-NS113613 to F.J.V.-C.) The authors acknowl-edge support for D.U.-M. by the research fellowship grantedby Consejo Nacional de Ciencia y Tecnolog ́ıa (CONACYT-Mexico).
Keywords
Neuromechanics, Muscle
Chat with Presenter
Available June 22nd 6am-7am PDT, June 23rd 8pm-9pm PDT
Join the Discussion
Cocontraction in reaching simulations with third order muscle activation dynamics
Tiina Murtola, Christopher Richards
Abstract
We investigate how muscle activation properties influence neuromuscular control of reaching using a simple simulation model of an arm. Two activation models are compared: a standard first order model and a physiologically realistic higher-order model. While the reaching performance was largely unaffected, the two models required different control strategies and gave rise to different cocontraction patterns.
Presented by
Tiina Murtola
Institution
Royal Veterinary College, Department of Comparative Biomedical Sciences
Keywords
Muscle, upper-limb, neuromuscular
Chat with Presenter
Available Jun 23rd 1-2pm BST, Jun 24th 7-8pm BST, Jun 25th 9-10am BST
Join the Discussion
Watch Presentation
Development of a musculoskeletal hopping robot driven by PAMs with sensory feedback system
Ryu Takahashi, Yuki Murakami, Koh Hosoda
Abstract
We developed a musculoskeletal hopping robot driven by pneumatic artificial muscles with sensor system. In this presentation, we show the tension data at the ankle joint during the hopping behavior. And we propose the sensory feedback system with reference to H. Geyer's research group as the future work.
Presented by
Ryu Takahashi
Institution
Graduate school of Engineering Science, Osaka University
Other Affiliations
Koh HOSODA’s lab
Keywords
Artificial muscle, neuromuscular interaction, hopping
Elbow angle and stiffness control by twisted string actuators and nested feedback
Adam Matic, Alex Gomez-Marin
Abstract
Model of independent control of joint angle and stiffness using a pair of opposing twisted string actuators and hierarchical control architecture. Proof of concept: slow but precise.
Robot zoo entry: https://youtu.be/kQTpzu4w0f0
Robot zoo entry: https://youtu.be/kQTpzu4w0f0
Presented by
Adam Matic
<adam.matic@gmail.com>
Institution
Institute of Neuroscience UMH-CSIC, Alicante, Spain
Keywords
Upper Limb, Muscle, Sensorimotor, joint
Chat with Presenter
Available Every day of the conference, 08:00-10:00 CET, 15:00-16:00 CET, 20:00 - 21:00 CET
Join the Discussion
Watch Presentation
Force Modulated Compliant Knee Control with Compliant Actuator for Stable and Efficient Hopping
Omid Mohseni, Andre Seyfarth, Maziar Ahmad Sharbafi
Abstract
This work discusses the Electric-Pneumatic Actuation (EPA) approach. EPA is in fact a variable stiffness actuator that can adapt to different requirements of a given system. Having both an electric motor and a pneumatic artificial muscle at its disposal, EPA offers precise control with high bandwidth and energy buffering capabilities, which are needed for efficient locomotion.
Presented by
Omid Mohseni
<omid.mohseni@tu-darmstadt.de>
Institution
Technische Universität Darmstadt
Other Affiliations
Lauflabor Locomotion Laboratory, Institute for Sport Science, Centre for Cognitive Science, TU Darmstadt, Germany.
Keywords
Legged Locomotion, Compliant Actuation, Energy Efficiency
Chat with Presenter
Available June 25th 2-3pm CET
Join the Discussion
Hybrid Electric-Pneumatic Actuation (EPA) design can support robustness and efficiency in hopping
Maziar A. Sharbafi, Guoping Zhao, Omid Mohseni, Andre Seyfarth
Abstract
The potential optimal solution for the winning actuator design can be the combination of electric motors and pneumatic artificial muscles. In this work, we employ the Electric-Pneumatic Actuation (EPA) in a two-DoF legged robot in a perturbed experiment to investigate the potentials of this design.
Presented by
Omid Mohseni
<omid.mohseni@tu-darmstadt.de>
Institution
Technische Universität Darmstadt
Other Affiliations
Lauflabor Locomotion Laboratory, Institute for Sport Science, Centre for Cognitive Science, TU Darmstadt, Germany.
Keywords
Compliant Actuation, Legged Locomotion, Pneumatic Artificial Muscle
Chat with Presenter
Available June 25th 3-4pm CET
Join the Discussion
Multi-Objective Optimization based 3D Walking of a Neuromuscular Driven Salamander Model in Simulation
Jonathan Arreguit, Shravan Tata Ramalingasetty, Astha Gupta, Auke Ijspeert
Abstract
In this work, we explore how a multi-objective optimization can be used to find the parameters of an oscillator network and a simplified muscle model for a simulated walking salamander. We formulate and solve this problem using an evolutionary algorithm leading to a set of non-dominated solutions which exhibit a trade-off between speed and energy consumption.
Presented by
Jonathan Arreguit
Institution
Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne (EPFL)
Keywords
Optimization, Muscle, Neuromuscular, Evolutionary Algorithm, Neuromechanical Simulation
Chat with Presenter
Available June 24th, 9:00-10:00 and 17:00-18:00 CET
Join the Discussion
Prediction of movement for adaptive control of an upper limb exoskeleton
Thomas Helbig, Stefan Kreipe, Moritz Goos, Sabine Wenzel, Nikolaus-Peter Schumann, Hartmut Witte
Abstract
New fields of application for exoskeletons or wearable robots address new kinds of users. Especially for healthy users the minimization of the latencies between the reaction of the exoskeleton and the user’s intended movement is a key requirement. First concepts to reduce latencies as well as to adapt the exoskeleton to the users current physiological disposition and task are shown.
Presented by
Thomas Helbig
Institution
Biomechatronics Group, Department of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, Germany
Other Affiliations
Division for Motor Research, Pathophysiology and Biomechanics, Department for Trauma, Hand and Reconstructive Surgery, Universitätsklinikum Jena, Friedrich-Schiller Universität Jena, Jena, Germany
Keywords
exoskeleton, wearable robots, upper limb, adaptiv control, predictive filtering, electromyography
Chat with Presenter
Available June 23rd 9-10 am CEST and 1-2 pm CEST; June 24th 4-5 pm CEST; June 25th 9-10 am CEST and 2-3 pm CEST
Join the Discussion
Watch Presentation
▼ Navigation, Exploration, and Sensing Back to top
Active sensing in a bioinspired hand as an enabler of implicit curriculum learning for manipulation
Romina Mir, Pegah Ojaghi, Ali Marjaninejad, Michael Wehner, Francisco Valero-Cuevas
Abstract
We designed a 3-fingered bio-inspired hand with the two-joint, three servo-motor fingers simulated in the MuJoCo physics environment. Three fingers is sufficient for stable manipulation. The simulated hand consists of a palm and 3 identical servo-driven fingers: two adjacent fingers (analogous to the ‘middle’ and ‘index’ fingers) and one opposing them (analogous to the ‘thumb’). Our data-driven model-free approach should not rely on prior knowledge for our hand to autonomously learn how to pick up a ball against gravity while spinning it. Our question was to see if the algorithm would learn best by being rewarded for lifting the object, vs. by being rewarded for both lifting and spinning. We found that being rewarded for both features of the task is necessary for learning.
Presented by
Romina Mir
Institution
University of Southern California, Los Angeles
Other Affiliations
University of California Santa Cruz, Santa Cruz
Keywords
in-hand manipulation, autonomous learning, active sensing, curriculum learning
Bioinspired magnetic navigation using magnetic signatures and robots
Brian K. Taylor, Andrew J. Harvey, Luc Tourangeau, Delaney O'Connell, Catherine E. Kehl
Abstract
A variety of animals use earth's magnetic field to navigate long distances. However, specific magnetoreceptors and magnetic navigation strategies have yet to be conclusively determined. Simultaneously, the earth's magnetic field offers a signal that engineered systems can use as an alternative to satellite-based navigation. Our work implements a hypothesized animal magnetic navigation strategy in two robotic platforms. The results from our robotic platforms match and validate our previous simulation work, and suggest that magnetic signatures are a viable way for animals to navigate.
Presented by
Brian K. Taylor, Delaney O'Connell
Institution
The University of North Carolina at Chapel Hill
Keywords
Navigation, Control, magnetoreception, magnetic navigation, alternative navigation
Chat with Presenter
Available June 23 and 24, 9AM-10AM Eastern, , 9PM - 10PM Eastern
Join the Discussion
Watch Presentation
Chaotic Neural Oscillator for Navigation and Exploration of Autonomous Drones
Vatsanai Jaiton, Poramate Manoonpong
Abstract
In this work, we proposed the use of a chaotic neural oscillator to drone exploration control system instead of the typically used Gaussian random walk. The performance comparison between the proposed method and others is provided which the result shows that the chaotic neural oscillator allows the drone to explore the area more efficiently. The proposed method can be extended in the future to more complex environments and real drone applications.
Presented by
Vatsanai Jaiton
Institution
Vidyasirimedhi Institute of Science and Technology
Other Affiliations
Bio-inspired Robotics and Neural Engineering Lab, School of Information Science and Technology
Keywords
์Neural Control, Chaotic Neural Oscillator, Navigation and Exploration, Autonomous Drones
Chat with Presenter
Available ๋June 23rd 3-4am, 11-12pm EDT and June 24th 3-4am, 11-12pm EDT
Join the Discussion
Watch Presentation
Insects adjust body and appendages to traverse cluttered obstacles
Yaqing Wang; Ratan Othayoth; Chen Li
Abstract
Robots are more and more involved in our daily life. There are scenarios where the robots are required to navigate rough terrains with large obstacles, like earthquake rubble. Although legged robots have already shown superior performance in the rough terrain compared to wheeled robots, they are still far from being agile. On the other hand, insects like cockroaches are exceptional at navigating complex terrain with cluttered, large obstacles. Understanding the physical mechanism of how the animals traverse such rough terrain can provide insight into how to create more agile mobile robots.
In a recent study, we found that the animal traversed a layer of grass-like beams by transitioning from a “pitch” mode to a “roll” mode (fig. 1A). In the “pitch” mode, the cockroach pitched up its body after approaching the beam and tried to push against the beam to ram through. In the “roll” mode, the animal rolled its body into a gap between two beams. Using a potential energy landscape approach, the study showed that the transition emerged when the system jumped from a “pitch” local minimum basin to a “roll” basin on the landscape, by crossing a barrier between the two (fig. 1B). The study also showed that the kinetic energy fluctuation from body oscillation facilitates this transition. However, the study also showed that the animal transitioned from the pitch to the roll mode before the kinetic energy fluctuation reaches the same level as the energy barrier. This suggested that the animal may be using active strategies via sensory feedback.
Presented by
Yaqing Wang
Institution
Johns Hopkins University
Keywords
Obstacle traversal; Active adjustments; Terradynamics; Robotic model
Mechanical and actuation asymmetry in soft appendages leads to robotic propulsion in granular media
Shivam Chopra, Saurabh Jadhav, Michael T Tolley, Nick Gravish
Abstract
Inspired by bristle worms which use their soft appendages to interact with granular media and aid in locomotion, we designed a soft anisotropic appendage to generate asymmetric thrust for propulsion in granular media. We characterized the performance of the appendage with different design and actuation parameters like amplitude of the torque input and the stiffness of the appendage.
Presented by
Shivam Chopra
Institution
University Of California San Diego
Keywords
Burrowing, mechanical design, soft robotics, flexible appendage
Chat with Presenter
Available June 22 10am
Join the Discussion
Recapitulating Drosophila Antennal Grooming by Combining Discrete and Rhythmic Movement Primitives
Pembe Gizem Özdil, Victor Lobato-Rios, Shravan Tata Ramalingasetty, Jonathan Arreguit, Auke Ijspeert, Pavan Ramdya
Abstract
State-of-the-art robots are not yet able to match the dexterity and agility of animals, partly due to a lack of understanding how animals generate movements via interactions between the central nervous system, sensory feedback, and the body. Drosophila melanogaster, the fruit fly, is an ideal model for investigating goal-directed reaching movements: it has a numerically compact nervous system yet can achieve many complex behaviors. Here, we reproduce Drosophila antennal grooming behavior with a dynamical system to investigate if leg movements can be explained by the superimposition of discrete and rhythmic patterns modulated by three simple control parameters. Finally, we use a new neuromechanical model of Drosophila to replay and validate our results. Overall, this approach can lead to new perspectives on reverse-engineering animal motor control.
Presented by
Pembe Gizem Özdil
<pembe.ozdil@epfl.ch>
Institution
Swiss Federal Institute of Technology Lausanne (EPFL)
Other Affiliations
Doctoral Program in Robotics, Control and Intelligent Systems
Keywords
Biologically inspired neural networks, neuromechanics, dynamical systems, physics-based simulations
Chat with Presenter
Available June 22 11:30 AM EST, June 23 10:00 AM EST, June 24 12:30 PM EST
Join the Discussion
Soft proprioceptive sensing enables soft robotic swimming with closed loop control and facilitates obstacle traversal
Fabian Schwab, Ardian Jusufi
Abstract
Bio-inspired robots serve as effective platforms to investigate neuromechanics of animal locomotion.
Presented by
Fabian Schwab
Institution
Max-Planck-Institute for Intelligent Systems
Keywords
Swimming, Navigation, Control
Chat with Presenter
Available June 24, 4-4.30am, 9-9.30am EST
Join the Discussion
Watch Presentation
The Combination of Rotary Mechanism and Rotary Compliance for Robust and Efficient Legged Locomotion
Majid Abedinzadeh Shahri, Omid Mohseni, Majid Nili Ahmadabadi
Abstract
This paper discusses the idea of combining 'Rotary Mechanisms' and 'Rotary Compliances' as an indirect actuation approach as opposed to conventional direct actuation towards attaining robust and energy-efficient locomotion. We present two design approaches for the profile design of rotary compliances and evaluates them in a single-leg running task over a range of frequency variations.
Presented by
Omid Mohseni
<omid.mohseni@tu-darmstadt.de>
Institution
University of Tehran
Other Affiliations
Cognitive Systems Laboratory, Control and Intelligent Processing Center of Excellence (CIPCE), School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran
Keywords
Compliant actuation, Legged locomotion, Energy efficiency
Chat with Presenter
Available June 25th 4-6pm CET
Join the Discussion
Three-Axis Power Synthesising Transmission for Walking Robots
Peter Billeschou, Jørgen C. Larsen, Poramate Manoonpong
Abstract
We propose a new motor transmission with three degrees of freedom that removes the mass of all electronics, motors, and gearboxes from the robots' leg structure and instead allocates it to its base structure. In addition, it synthesises the power and rotation of three motors and channels their combined motion to the leg joints. These features may be used to emulate an animal's motion better, as it provides developers with a greater standpoint to match the mass distributions of an animal's legs. Finally, we present a theorised mechanical model of the transmission and formulate the position relationship between the motors and the joints.
Presented by
Peter Billeschou
<pebil@mmmi.sdu.dk>
Institution
The University of Southern Denmark
Other Affiliations
SDU Biorobotics
Keywords
Walking, power density, motor design, legged locomotion
Using bio-inspired physical interaction to plan and control robots to traverse cluttered large obstacles
Qihan Xuan, Chen Li
Abstract
Presented by
Qihan Xuan
Institution
Johns Hopkins University
Keywords
Navigation, Physical interaction, Force sensor, Control
Chat with Presenter
Available June 21st, 11:00-12:00 am, EST
Join the Discussion
▼ Quadrupedal Locomotion Back to top
Decentralized Control Mechanisms Underlying Neck-limb Coordination in Horse Walking and Trotting
Shura Suzuki, Atsushi Norita, Akira Fukuhara, Takeshi Kano, Akio Ishiguro
Abstract
The horse shows a nodding motion, which is swinging the head up and down, during locomotion—the nodding motion changes in response to the locomotion speed as well as the footfall patterns. In this study, we aimed to understand the speed-dependent neck-limb coordination using a simple mathematical model. Here, we discuss the importance of the body tilt as sensory information to control flexible neck-limb coordination.
Presented by
Shura Suzuki
Institution
Osaka University and JSPS
Keywords
Quadruped, Control, Simulation
Chat with Presenter
Available 22-25th, 10-18 JST, 21-29 EDT, 1-9 GMT, and please contact me about other dates and times
Join the Discussion
Watch Presentation
Estimating gaits of an ancient crocodile-line archosaur
Delyle T. Polet and John R. Hutchinson
Abstract
We perform predictive simulations of a ~240 million-year-old crocodile-line archosaurian reptile (Batrachotomus), and compare these to fossil trackways. We find qualitative agreement between the simulations and trackways, in terms of manus-pes placement as a function of stride length. This suggests that Batrachotomus may have used an unusual, tölt-like gait.
Presented by
Delyle T. Polet
<dpolet@rvc.ac.uk>
Institution
Royal Veterinary College
Keywords
Gait, Archosaur, Simulation, Quadruped, Paleontology
Chat with Presenter
Available Thursday, June 24 0900-1000, 1100-1200, 1430-1330 MDT (GMT-6)
Join the Discussion
Watch Presentation
Model-free balance control for running quadruped robots using bicycle dynamics
Shoei Hattori, Shura Suzuki, Akira Fukuhara, Takeshi Kano, Akio Ishiguro
Abstract
We propose new simple dynamic balance control method for quadruped robot inspired by bicycle. By this method, our quadruped robot model can achieve both high speed and stability with few calculation cost. In this poster, we show results of running experiments on 3D simulation.
Presented by
Shoei Hattori
Institution
Tohoku University, Dept. of Electrical Engineering, Graduate School of Engineering,
Other Affiliations
Tohoku University, Research Institute of Electrical Communication
Keywords
Quadruped, Control, Simulation
Quasi-quadruped robot with a powerful and compliant musculoskeletal spine
Ojiro Matsumoto and Koh Hosoda
Abstract
Quadruped animals like cheetah achieve high-speed locomotion with a compliant spine. The compliance allows the spine structure to transform and causes more extension of muscles along the spine. That enhances the initial tension of muscle when it actuates. We build a hypothesis that the compliant spine enhances the driving force by utilizing its shape transformation which external forces cause. We designed a musculoskeletal robot with a compliant spine structure according to this hypothesis and verified it with running experiments. Experiments suggest the hypothesis is correct about the abdominis muscle in the swing phase.
Presented by
Ojiro Matsumoto
Institution
Graduate School of Engineering Science, Osaka University, Japan
Keywords
Quadruped, musculoskeletal, spine structure
Chat with Presenter
Available June 23th 1-2pm, 6-7pm, 11-12pm JST
Join the Discussion
Watch Presentation
SLIP-Based Heuristic Controller for Quadrupedal Landings
Se Hwan Jeon, Sangbae Kim
Abstract
This work presents a simple, heuristic landing controller based on a spring-loaded inverted pendulum (SLIP) model to safely return a quadrupedal robot platform from aerial phases. From a range of significant angular and linear velocities, the robot is able to return to a nominal resting position without failure.
Presented by
Se Hwan Jeon
Institution
Massachusetts Institute of Technology
Keywords
Quadruped, Control, Simulation
Simulation of quadruped robot walking considering anatomical features of distal forelimb
Hayato Amaike, Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Takeshi Kano, Akio Ishiguro
Abstract
Felines use their forelimbs to perform a wide variety of actions such as walking, climbing trees, and attacking prey. In order to realize these movements, the structure of the distal forelimb, which comes into contact with the environment or prey, is considered important. We aim to understand the mechanism how the distal forelimb structure functions in realizing various movements. In this study, we conducted a walking simulation using a quadruped robot with anatomical features of distal forelimb, and succeeded in reproducing the behavior observed in lion walking.
Presented by
Hayato Amaike
Institution
Tohoku University, Research Institute of Electrical Communication
Other Affiliations
Tohoku University, Graduate School of Biomedical Engineering
Keywords
Simulation, quadruped, upper limb
Chat with Presenter
Available June 22nd 8-9pm JST, June 23rd 9-10am JST
Join the Discussion
Watch Presentation
Simulation study on galloping quadruped robot with flexible shoulder hammock structure
Akira Fukuhara, Megu Gunji, Yoichi Masuda, Kenjiro Tadakuma, Akio Ishiguro
Abstract
In this study, we developed a simple robot model that mimics the flexibility shoulder of cursorial quadrupeds, and we simulated asymmetrical galloping motions of the robot. The results suggest that the flexibility of the shoulder contributes to reducing gaps in the mechanical loads between the trailing and leading forelimbs during asymmetrical galloping gait.
Presented by
Akira Fukuhara
Institution
Tohoku University, Toyo University, Osaka University
Keywords
Simulation, quadruped, upper limb
Tackling sensorimotor delays and low control update frequencies during drop impacts with hybrid parallel leg compliance
Milad Shafiee Ashtiani, Alborz Aghamaleki Sarvestani, Alexander Badri-Spröwitz
Abstract
Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system and the harsh loading conditions resulting from repeated, high-frequent impacts. The engineered sensorimotor control in legged robots is implemented with high control frequencies, often in the kilohertz range. Consequently, robot sensors and actuators can be polled within a few milliseconds. However, especially at harsh impacts with unknown touch-down timing, controllers of legged robots can become unstable, while animals are seemingly not affected. We examine this discrepancy and suggest and implement a hybrid system consisting of a parallel compliant leg joint with varying amounts of passive stiffness and a virtual leg length controller. We present systematic simulations and our system shows previously unseen robustness, in the presence of sensorimotor delays up to 60 ms, or control frequencies as low as 20 Hz, for a drop landing task from 1.3 leg lengths high and with a compliance ratio (fraction of physical stiffness of the sum of virtual and physical stiffness) of 0.7. In computer simulations, we report successful drop-landings from 3.8 leg lengths (1.2 m) for a 2 kg quadruped robot with 100 Hz control frequency and a sensorimotor delay of 35 ms.
Presented by
Milad Shafiee Ashtiani
Institution
Max Planck Institute for Intelligent Systems–Dynamic Locomotion Group
Keywords
legged robot, parallel and passive compliance, hybrid actuation and control design, sensorimotor delay, feedback, latency
Chat with Presenter
Available June 22nd 11-12am(CEST), 2-3 pm(CEST), 6-7 pm(CEST)---June 23nd 11-12am(CEST), 2-3 pm(CEST),---June 25nd 11-12am(CEST), 2-3 pm(CEST)
Join the Discussion
Terrain recognition by using proprioceptive sensors of a soft quadruped robot
Hiroaki Tanaka, Koh Hosoda
Abstract
Terrain recognition is an important topic for legged robots to achieve better performance in various situations.
Therefore, the robots need to recognize the terrain by using their sensors.
If the robot is soft, its proprioceptive sensory data includes the terrain information.
In this presentation, we focused on developing a methodology for terrain recognition by using the proprioceptive sensor of a soft-legged robot.
Presented by
Hiroaki Tanaka
Institution
Osaka university
Keywords
Quadruped, legged-locomotion, Navigation
Toward understanding design principle of polysemantic body underlying animal's versatile behaviors
Akira Fukuhara, Megu Gunji, Yoichi Masuda, Hayato Amaike, Kazuhiro Miyashita, Ryo Wakamoto, Kenjiro Tadakuma, Masato Ishikawa, Akio Ishiguro
Abstract
This study focuses on the context-dependent functionality of animals’ bodies underlying versatile behaviors. For example, carnivorous quadrupeds (e.g., lions) exploit their forelimbs as locomotor organs during walking and running and as a manipulator during feeding. In this presentation, we introduce three examples of our corroborative research topic between robotics and anatomy.
Presented by
Akira Fukuhara, Megu Gunji, Yoichi Masuda, Hayato Amaike
Institution
Tohoku University, Toyo University, Osaka University
Keywords
Quadrupedal locomotion
Chat with Presenter
Available June 22th 9-10 am EDT, 23th 8-9 pm EDT
Join the Discussion
Watch Presentation
▼ RoboZoo Back to top
A sensorized snake robot to study limbless locomotion in complex 3-D terrain
Divya Ramesh, Qiyuan Fu, Kaiwen Wang, Yaqing Wang, Ratan Othayoth, Chen Li
Abstract
Snakes can quickly and stably traverse complex 3-D terrain, presumably by using sensory feedback control to generate appropriate propulsive forces distributed along its body. However, snake robots are still inferior to animals in efficiency and stability when traversing similar terrains due to a lack of understanding of how snakes sense and control the body-terrain contact forces to effectively generate propulsion while maintaining stability. To fill this gap, we developed a sensorized snake robot that has a low-cost, flexible, piezoresistive sensor array distributed along the entire length of the robot body to measure the contact forces. We plan to use our sensorized robot to perform systematic experiments to understand the principles of how to control body deformation and terrain contact to generate the right forces while maintaining stability. Once we obtain a better understanding of how contact forces relate to body configuration and motion, we plan to develop sensory feedback control strategies for the robot to move over more complex 3-D terrain similarly as snakes do.
Presented by
Divya Ramesh
Institution
Johns Hopkins University, Department of Mechanical Engineering
Keywords
RoboZoo
Chat with Presenter
Available June 23 2-3 pm EST, 6-7 pm EST and 11pm-12am EST
Join the Discussion
Watch Presentation
WaltzBots: Toward understanding interpersonal coordination mechanism underlying ballroom dance
Akira Fukuhara, Takeshi Kano, Ryo Kobayashi, Yuji Yamamoto, Akio Ishiguro
Abstract
Although dancing performance is one of the popular tasks to show robot control capabilities, dancing robots usually keep some distance from each other, i.e., physically independent dance performance. This study aims to establish control mechanisms that allow robots to adaptively coordinate through physical interactions, by focusing on ballroom dance. In this paper, we propose a simple decentralized control mechanism for a dancing robot pair, WaltzBots. Video of RobotZoo is here (https://youtu.be/yCyOKIYygGU)
Presented by
Akira Fukuhara
Institution
Tohoku University, Hiroshima University, Nagoya University
Keywords
Ballroom dance, RoboZoo