You are invited to join a reading group in human and robot balance and walking, led by Mark Redfern at Pitt and Jessica Hodgins and Chris Atkeson at CMU. We will focus on two issues:
1) What do we know about human's responses to slipping, tripping, stumbling, and other perturbations to standing balance and walking?
2) How is current humanoid robot walking similar and different from human walking?
We will regularly meet Thursdays 11-12, approximately alternating between Pitt and CMU.
The Pitt meeting location is BioEngineering conference room, 749 Benedum Engineering Hall.
The CMU meeting location is Newell Simon Hall 4201, building 14 on the campus map
Feb. 19: We will discuss "The Control of Foot Placement During Compensatory Stepping Reactions: Does Speed of Response Take Precedence over Stability?" Brian E. Maki and William E. McIlroy, IEEE Transactions on Rehabilitation Engineering, 7(1), 1999.
Feb. 26:
We will discuss a review of work on stepping in response to perturbations:
"Change-in-Support Reactions for Balance Recovery",
Brian E. Maki, William E. McIlroy, and Geoff R. Fernie,
IEEE Engineering in Medicine and Biology Magazine,
March/April 2003.
We will also discuss
"Factors influencing the quick onset of stepping following postural
perturbation",
M.C. Do, C. Schneider, and R.K.Y. Chong,
Journal of Biomechanics 32, 795-802, 1999.
Mar. 4:
We will discuss a robot slipping and tripping paper.
"Slipping and Tripping Reflexes for Bipedal Robots",
Gary N. Boone and Jessica K. Hodgins,
Autonomous Robots 4(3), 259-271, 1997?
PDF version
Mar. 25: We will discuss a human slipping paper. "Lower Extremity Corrective Reactions to Slip Events", Rakie Cham and Mark S. Redfern, Journal of Biomechanics 34, 1439-1445, 2001
April 1: We will discuss a paper on changes in gait due to anticipating slippery floors. "Changes in gait when anticipating slippery floors", Rakie Cham and Mark S. Redfern, Gait and Posture 15, 159-171, 2002.
April 8: We will discuss a paper comparing humanoid and human walking. "Measurement and Comparison of Humanoid H7 Walking with Human Being", Kagami et. al., Humanoids 2003.
April 15: We will survey the work of Pavol and colleagues on responses to trips. If you can only look at one of these papers, take a look at the third.
April 22: We will look at some work on how to fall in a way that minimizes injury. UKEMI: Falling Motion Control to Minimize Damage to Biped Humanoid Robot, Fujiwara et. al. IROS 2002.
Coordinator: Chris Atkeson,
cga at cmu.edu