Locomotion Discussion Group Meeting

Schedule and reading list

Tuesdays (bi-weekly), 13:30-14:30, Room 1A

• 2003
• 2002
• Candidates for future reading
• Papers of Interest
• Links

July 8

• H. Benbrahim and J. Franklin , Biped Dynamic Walking using Reinforcement Learning , Robotics and Autonomous Systems, vol.22, 1997.

June 1

June 17

June 3

• Art Kuo, The relative roles of feedforward and feedback in the control of rhythmic movments , Motor Control, 2002.

May 13

• A. Goswami, B. Espiau, and A. Keramane, Limit cycles in a passive compass gait biped and passivity-mimicking control laws , Journal of Autonomous Robots, Vol. 4, No. 3, 1997.

April 22

April 8

• Avis H. Cohen, Control principles for locomotion - looking toward biology, AMAM 2003

• M. A. Lewis, R. Etienne-Cummings, M. Hartmann, Z-R. Xu and A. H. Cohen, An in silico central pattern generator: silicon oscillator, coupling entrainment, and physical computation, Biologically Cybernetics, 88, 137-151, 2003

Mar 25

• A Study on the Roles of the Toe in Human Walking (Master's thesis of Iwama-san)

Mar 18

Mar 4

• S. Kajita and K. Tani, Study of Dynamic Biped Locomotion on Rugged Terrain --Derivation and Application of the Linear Inverted Pendulum Mode--, ICRA 1991

Feb 25

• K. Tsujita, K. Tsuchiya and A. Onat, Adaptive Gait Pattern Control of a Quadruped Locomotion Robot, IROS 2001

Feb 18

• J. Davis and S. Taylor, Analysis and Recognition of Walking Movements, Proc. Int. Conf. Pattern Recognition (ICPR '02), Quebec, Canada, 2002, pp 315 -318

Feb 11

Feb 4

• N. Troje, Decomposing biological motion: A framework for analysis and synthesis of human gait patterns, Journal of Vision 2, 371-387 (2002)

Jan 28

• M. Yano, S. Hibiya, M. Tokiwa, Y. Makino, Real-time Control of Walking of Insect; Self-organization of the Constraints and Walking Patterns, in Distributed Autonomous Robotic Systems 5, pp. 444-451 (2002)

Jan 21

• E. Klavins, H. Komsuoglu, R. Full and D. E. Koditschek The Role of Reflexes Versus Central Pattern Generators in Dynamical Legged Locomotion, in Neurotechnology for Biomimetic Robots, MIT Press, in publication

Dec 24

• V. Q. van der Linde, Passive bipedal walking with phasic muscle contraction, Biological Cybernetics, Vol. 81, pp. 227-237 (1999)

Nov 19 and 26

Nov 12

Nov 5

Oct 29

• J. Camp, Powered "Passive" dynamic walking, Master of Engineering Project Report, Cornell University (1997)

Oct 22

• M. Haruna, M. Ogino and K. Hosoda, Passive dynamic walking of a biped with a torso supported by springs, CLAWAR (2002)

• M. Ogino, K. Hosoda and M. Asada, Acquiring passive dynamic walking based on ballistic walking, CLAWAR (2002)

• F. Yamasaki, K. Hosoda and M. Asada, An Energy Consumption Based Control for Humnaoid Walking, IROS2002 (2002)

• Y. Sugimoto and K. Osuka, Walking control of quasi-passive-dynamic-walking robot 'Qualtet III' based on delayed feedback control, CLAWAR (2002)

Oct 1

Sept 24

Sept 17

• F. Asano, M. Yamakita and K. Furuta, Virtual Passive Dynamic Walking and Energy-based Control Laws, IEEE IROS 2000, pp. 1149-1153 (2000)

Sept 10

Sept 3

• K. Yamane and Y. Nakamura, Dynamics Filter---Concept and Implementation of On-Line Motion Generator for Human Figures, IEEE ICRA2000 (2000)

• Y. Nakamura and K. Yamane, Interactive Motion Generation of Humanoid Robots via Dynamics Filter, IEEE-RAS Humanoids 2000 (2000)

• Zvi Shiller, K. Yamane and Y. Nakamura, Planning Motion Patterns of Human Figures Using a Multi-layered Grid and the Dynamics Filter, IEEE ICRA2001 (2001)

• K. Yamane and Y. Nakamura, Make Robots Move Like Human, IFtoMM 1999 (1999) (in Japanese)

• K. Yamane and Y. Nakamura, Interactive Motion Generation for Human Figures using Dynamics Filter, JSME Robomec 2000 (2000) (in Japanese)

• K. Yamane and Y. Nakamura, Motion Generation of Humanoid Robots via Dynamics Filter -- Application to the HRP Virtural Platform --, 1999 RSJ Annual Symposium (1999) (in Japanese)

Aug 27

• S. Kagami, F. Kanehiro, Y. Tamiya, M. Inaba and H. Inoue Autobalancer: An Online Dynamic Balance Compensation Scheme for Humanoid Robots, Fourth Int. Workshop on Algorithmic Foundation of Robotics (2000)

Aug 20

• Auke Ijspeert, A connectionist central pattern generator for the aquatic and terrestrial gaits of a simulated salamander, Biological Cybernetics, vol. 84, pp. 331-348 (2001)

• Auke Ijspeert, Locomotion, Vertebrate, The Handbook of Brain Theory and Neural Networks, 2nd Edition, M. Arbib (Ed.)

Aug 13

• Paul Fiolkowski, Denis Brunt, Mark Bishop, Raymond Woo, Does postural instability affect the initiation of human gait?, Neuroscience Letters 323 (2002) 167-170

Aug 6

• C. Capaday, The special nature of human walking and its neural control, Trends in Neuroscience, vol. 25, no. 7 (2002)

July 23

• A. Ude, C. Man, M. Riley, and C. G. Atkeson, Automatic Generation of Kinematic Models for the Conversion of Human Motion Capture Data into Humanoid Robot Motion, IEEE-RAS International Conference on Humanoid Robots, Cambridge, Massachusetts, September 2000.

July 16

• Auke Ijspeert, Jun Nakanishi, and Stefan Schaal, Learning Rhythmic Movements by Demonstration using Nonlinear Oscillators , IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, (2002) (to appear)

July 9

• S. Grillner et al., Neural networks that co-ordinate locomotion and body orientation in lamprey, Trends in Neuroscience, vol. 18, no. 6 (1995)

July 2

• K. Hase and N. Yamazaki, Computational evolution of human bipedal walking by a neuro-musculo-skeletal model, Artificial Life and Robotics, vol.3, pp. 133-138 (1999)

• K. Hase and N. Yamazaki, Synthesis of Bipedal Motion Resembling Actual Human Walking by Neural Oscillators and Genetic Algorithms, Trans. on SICE, vol. 33, no. 5, pp. 448-454 (1997) (in Japanese)

• K. Hase and N. Yamazaki, Computer Simulation of the Ontogeny of Bipedal Walking, Anthropological Science, vol. 106, no. 4, pp. 327-347 (1998)

• K. Hase and N. Yamazaki, Kasou-shinka no Kokoromi, Biomechanism, vol.14, pp. 183-193 (1998) (in Japanese)

• K. Hase and N. Yamazaki, Autonomous Acquisition of Neural System Generating Bipedal Walking, Trans. on Japan Soc. of Mech. Eng., vol. 64, no. 625, pp. 3541-3547 (1998) (in Japanese)

• N. Yamazaki, Takumisa no Undou-rikigaku, Journal of Health, Physical Education and Recreation, vol. 35, no. 9, pp. 661-665 (1985) (in Japanese)

• Website:
  http://staff.aist.go.jp/kazunori.hase
  http://staff.aist.go.jp/kazunori.hase/press-01 (press release in Japanese)
  

June 25

• G. Taga, Nonlinear Dynamics of the Human Motor Control - Real-Time and Anticipatory Adaptation of Locomotion and Development of Movements, Int. Symp. on Adaptive Motion of Animals and Machines (AMAM) 2000.

June 18

• K. G. Pearson and J. E. Misiaszek, Locomotion, University of Alberta, Edmonton, Canada. ENCYCLOPEDIA OF LIFE SCIENCES, 2001. Nature Publishing Group.

June 11

June 4

• J. Pratt, P. Delworth and G. Pratt, Virtual Model Control of a Bipedal Walking Robot, IEEE ICRA '97, pp. 193-198

• J. Pratt and G. Pratt, Intuitive Control of a Planar Bipedal Walking Robot, IEEE ICRA '98, pp. 1024-2021

May 28 (Room 3B)

• J. Hodgins, Biped Gait Transitions , IEEE ICRA '91, pp. 2091-2097

May 21

• Andrew Y. Ng and Michael Jordan, PEGASUS: A policy search method for large MDPs and POMDPs , In Uncertainty in Artificial Intelligence, Proceedings of the Sixteenth Conference, 2000

May 14

• J. W. Grizzle, An Analytical Approach to Asymptotically Stable Walking in Planar Biped Robots , Super Mechano Symposium Conference, November 19-20, 2001, Japan

• J.W. Grizzle, Gabriel Abba and Franck Plestan, Asymptotically Stable Walking for Biped Robots: Analysis via Systems with Impulse Effects , IEEE Trans on AC, Volume 46, No. 1, January 2001, pp. 51-64

• T. McGeer, Passive Walking with Knees , IEEE ICRA '90, pp. 1640-1644

• T. McGeer, Passive Dynamic Walking , IJRR, pp. 62-82, 1990

May 7

April 30

• S. Kagami et al., A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot , Autonomous Robots 2002

• M. Vukobratovic et. al., Biped Locomotion, pages 17-27 , 1990

• Ambarish Goswami, Postural stability of biped robots and the foot rotation indicator (FRI) point , IJRR 1999

April 23

• M. Sato et. al., Reinforcement Learning for Biped Locomotion , ICANN 2002 (Japanese version, IEICE )

• S. Miyakoshi et. al., Transferring Human Biped Walking Function to a Machine - Towards the Realization of a Biped Bike - , CLAWAR 2001

•  J. Morimoto et. al., Robust Low Torque Biped Walking using Differential Dynamic Programming with a Minimax Criterion , submitted to CLAWAR 2002.

April 16

• M. Raibert and I. Sutherland, Machines That Walk, Scientific American, vol. 248, no. 1 (1983)

• H. Miura and I. Shimoyama, Dynamic Walk of a Biped, Int. J. of Robotics Research, vol. 3, no. 2, pp. 60-74(1984)

Special Issues of JRSJ on Locomotion

• Journal of Robotics Society of Japan, vol. 1, no. 3, 1983 (in Japanese) (5MB)
• Journal of Robotics Society of Japan, vol. 11, no. 3, 1993 (in Japanese) (8MB)
• Journal of Robotics Society of Japan, vol. 20, no. 3, 2002 (in Japanese) (30MB)

Locomotion using Neural Oscillators

• O. Katayama and S. Kitamura, Application of the Describind Function Method to Motion Generation Using a Neuro Oscillator , Trans. on SICE, vol. 34, no. 8, pp. 830-835 (1998) (in Japanese)

Biped Locomotion using Nonlinear Oscillators

K. Tsuchiya, S. Aoi, and K. Tsujiya, Locomotion Control of a Biped Locotmotion Robot using Nonlinear Oscillators , IROS 2003, Las Vegas

Technical Paper Writing

• J. H. Heald, JR., An Equilibrium Theory for the Meeting Paper, IEEE Tran. on Engrg. Writing and Speech, vol. EWS-12, pp. 18-19 (1969)

Entertainment Robots

• M. Fujiya, AIBO: Toward the Era of Digital Creatures, Int. Journal of Robotics Research, vol. 20, no. 10 (2001)

Digital Human Laboratory

• Special Issue on Digital Human, Journal of ISCIE, vol. 46, no. 8 (2002) (in Japanese)

Brain Science

• Articles on Brain Science, Iwanami, Kagaku, vol. 72, no. 9, Sept. (2002) (in Japanese)

Life as a researcher

• Essays on the life as a researcher, Iwanami, Kagaku, vol. 72, no. 4, April (2002) (in Japanese)

Coupled Oscillators

• E. Klavins and D. E. Koditschek, Phase Regulation of Decentralized Cyclic Robotic Systems, Int. J. of Robotics Research, vol. 21, No. 3 (2002)

Locomotion Interface for using Virtual Reality

• Special Issue of ISICE Magalize, Taikan wo Tsutaeru Interface (in Japanese), Vol. 47, No. 4, pp.165-172 (2003)

Legged Locomotion Seminar at CMU

• Legged Locomotion Seminar at CMU

Passive Dynamic Walking

• Andy Ruina , Human Power Lab, Cornell University
• Art Kuo , UM Passive Walking Page, University of Michigan

Analytical Approach

• J. Grizzle , Michigan Biped Locomotion Homepage, University of Michigan

Animation Lab, Human Animation

• J. Hodgins, Carnegie Mellon University , Animation Lab Homepage at Georgia Tech