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

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Show or hide this track 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!
Presented by: General Chair: Emily Standen
Institution: University of Ottawa
Keywords: AMAM2021

Chat with PresenterAvailable COFFEE BREAK 24hr access June 22-25th PASSWORD: AMAM2021 Join the Discussion Watch Presentation

Show or hide this track 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable [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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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

Chat with PresenterAvailable June 22-25, 9am-5pm Join the Discussion Watch Presentation

Show or hide this track 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

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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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable June 22nd, 23rd, 24th, 25th, 9 AM-6 PM EDT Join the Discussion Watch Presentation

Show or hide this track 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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

Chat with PresenterAvailable June 23-25, 12-12:30 pm EDT Join the Discussion Watch Presentation

Show or hide this track 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable June 23rd 8-9 AM/10-11 PM EDT Join the Discussion

Show or hide this track 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 PresenterAvailable 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 PresenterAvailable 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

Chat with PresenterAvailable June 25th 10:00-11:00am CET Join the Discussion Watch Presentation

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
Presented by: Adam Matic <adam.matic@gmail.com>
Institution: Institute of Neuroscience UMH-CSIC, Alicante, Spain
Keywords: Upper Limb, Muscle, Sensorimotor, joint

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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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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

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Show or hide this track 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

Chat with PresenterAvailable June 22, 10 Am- 2 PM PST Join the Discussion Watch Presentation

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 PresenterAvailable 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 PresenterAvailable ๋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

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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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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 PresenterAvailable 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

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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 PresenterAvailable June 21st, 11:00-12:00 am, EST Join the Discussion

Show or hide this track 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

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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 PresenterAvailable 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

Chat with PresenterAvailable June 23th 8:00-10:00 (EDT) Join the Discussion Watch Presentation

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 PresenterAvailable 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

Chat with PresenterAvailable June 22nd, 11am - 1pm Join the Discussion Watch Presentation

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 PresenterAvailable 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

Chat with PresenterAvailable June 23th and 24th 9-10 am EDT Join the Discussion Watch Presentation

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 PresenterAvailable 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

Chat with PresenterAvailable June 23 1:00-2:00 EST Join the Discussion Watch Presentation

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 PresenterAvailable June 22th 9-10 am EDT, 23th 8-9 pm EDT Join the Discussion Watch Presentation

Show or hide this track 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 PresenterAvailable 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

Chat with PresenterAvailable June 23th and 24th 9-10 am EDT Join the Discussion Watch Presentation