16-899E: Legged Locomotion
Spring 2007
Tuesdays/Thursdays 4:30-6
NSH 3002
Instructors: Chris Atkeson, cga@cs

Calendar

• Jan 18: Introductory Lecture - Gaits and Balance.
• Jan 23: Planning, Joel Chestnutt.
  Reading: Planning Biped Navigation Strategies in Complex Environments
  Optional Readings and Extras: More papers Thesis proposal. Videos
• Jan 25: Human balance/posture: Arash Mahboobin
  Reading:
  1) Postural orientation and equilibrium: what do we need to know about neural control of balance to prevent falls?, Horak (easy read) Age and Ageing 2006, 35-S2: ii7-ii11.
  2) An Optimal Control Model for Analysing Human Postural Balance, Kuo
  Optional Readings and Extras:
  An adaptive model of sensory integration in a dynamic environment applied to human stance control, van der Kooij ...
  An optimal state estimation model of sensory integration in human postural balance.
  A multisensory model of sensory integration in a dynamic environment applied to human stance control.
  
• Jan26, 10:30 Scaife 125: Quinn talk
  Insects as models for robot mobility and autonomy: Walking, running, climbing and flying
• Jan 30 Human gait: Zucker
  McMahon, T. A., Mechanics of Locomotion, IJRR 3(2):4-28, 1984 part 1, part 2.
  Optional Readings and Extras:
  Alexander, R. McN., The Gaits of Bipedal and Quadrupedal Animals, IJRR 3(2):49-59, 1984
• Feb 1 PDW: Cenciarini
  McGeer, T., Passive Dynamic Walking, IJRR, 9(2), pp. 62-82, 1990
  Efficient Bipedal Robots Based on Passive Dynamic Walkers Steve Collins, Andy Ruina, Russ Tedrake, Martijn Wisse Science Magazine, Vol. 307, Pages 1082-1085, Feb 2005.
• Feb 6 NO CLASS
• Feb 8 Compliance: Hurst
  Alexander, R. McN., Three Uses For Springs In Legged Locomotion, IJRR 9(2):53-61, 1990.
  Geyer H, Seyfarth A, Blickhan R. Compliant leg behaviour explains basic dynamics of walking and running. Proc. Roy. Soc. Lond. B, 273(1603): 2861-2867, 2006.
  Optional Readings and Extras:
  Design of Components for Programmable Passive Impedance, K. F. Laurin-Kovitz, J. E. Colgate, and S. D. R. Canes, ICRA 1991.
  Running in the real world: adjusting leg stiffness for different surfaces, Daniel P. Ferris, Micky Louie and Claire T. Farley, Proc. R. Soc. Lond. B (1998) 265, 989-994.
  Series Elastic Actuators, G. A. Pratt and M. W. Williamson, 1995.
  
• Feb 13 NO CLASS
• Feb 15 NO CLASS
• Feb 20 FES and Exoskeletons: Stegall
  Hybrid Assistive System-The Motor Neuroprosthesis, Dejan Popovic, Rajko Tomovic, and Laszlo Schwirtlich IEEE Transactions on Biomedical Engineering, 36(7). JULY 1989
  The Rise of the Body Bots, E. Guizzo and H. Goldstein, IEEE Spectrum, Oct. 2005.
  
• Feb 22 Prosthetics, Tappeiner
  User-adaptive control of a magnetorheological prosthetic knee Hugh Herr and Ari Wilkenfeld, Industrial Robot 30(1):42-55 2003
  Adaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop-Foot Gait Joaquin A. Blaya and Hugh Herr, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 12(1):24-31 2004
  
• Feb 27 ZMP Intro: Atkeson
  Wikipedia
  Kajita writeup of ZMP approach
  Optional Readings and Extras:
  Zero-moment Point: Thirty five years of its life. Vukobratovic, Miomir and Borovac, Branislav, International Journal of Humanoid Robotics, Vol. 1, No. 1, pp. 157-173, 2004.
  Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications M. B. Popovic, A. Goswami, and H. Herr International Journal of Robotics Research, Vol. 24, No. 12, 2005.
  Forces Acting on a Biped Robot, Center Pressure ofZero Moment Point. Philippe Sardain and Guy Bessonnet. IEEE Trans. Systems, Man, Cybernetics andPart A. Vol. 34, No. 5, pp. 630-637, 2004.
  Postural stability of biped robots and the foot rotation indicator (FRI) point A. Goswami International Journal of Robotics Research, Vol. 18, No. 6, 1999.
  Foot rotation indicator (FRI) point: A new gait planning tool to evaluate postural stability of biped robots. Ambarish Goswami
  
• Mar 1 GUEST LECTURE: Jung-Yup Kim on Hubo
  Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement, JUNG-YUP KIM, ILL-WOO PARK and JUN-HO OH, Advanced Robotics, Vol. 20, No. 6, pp. 707
  Optional Readings and Extras:
  Experimental Realization of Dynamic Walking for a Human-Riding Biped Robot, HUBO FX-1 JUNG-YUP KIM, JUNGHO LEE and JUN-HO OH, Advanced Robotics
  Walking Control Algorithm of Biped Humanoid Robot on Uneven and Inclined Floor Jung-Yup Kim, Ill-Woo Park and Jun-Ho Oh, Journal of Intelligent and Robotic Systems
  
• Mar 6 Human walking and ZMP: Atkeson
  Measurement and Comparison of Human and Humanoid Walking Kagami, S.; Mochimaru, M.; Ehara, Y.; Miyata, N.; Nishiwaki, K.; Kanade, T.; Inoue, H.; Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on Volume 2, 16-20 July 2003 Page(s):918 - 922 vol.2
  Zero Point MomentMeasurements From a Human Walker Wearing Robot Feet as Shoes Philippe Sardain and Guy Bessonnet, IEEE TRANSACTIONS ON SYSTEMS, MAN, CYBERNETICS ANDPART A: SYSTEMS AND HUMANS, VOL. 34, NO. 5, SEPTEMBER 2004
  Optional Readings and Extras:
  Six-axis force sensing footwear for natural walking analysis Takahashi, Y.; Kagami, S.; Ehara, Y.; Mochimaru, M.; Takahashi, M.; Mizoguchi, H.; Systems, Man and Cybernetics, 2004 IEEE International Conference on Volume 6, 10-13 Oct. 2004 Page(s):5374 - 5379 vol.6
  
• Mar 8 ZMP and other trajectory planning: McNaughton
  Motion Balance Filtering., Seyoon Tak, Oh-Young Song and Hyeong-Seok Ko., Computer Graphics Forum, Volume 19, Issue 3, pp. 437-446, August 2000
  Synthesis of Walking Primitive Databases for Biped Robots in 3D-Environments J. Denk and G. Schmidt, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003) , Taipei, Taiwan, 2003, pp. 1343-1349
  Optional Readings and Extras:
  Planning Walking Patterns for a Biped Robot, Qiang Huang, Kazuhito Yokoi, Shuuji Kajita, Kenji Kaneko, Hirohiko Arai, Noriho Koyachi, and Kazuo Tanie, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 17, NO. 3, JUNE 2001
  Synthesis of a Walking Primitive Database for a Humanoid Robot using Optimal Control Techniques, J. Denk and G. Schmidt
  Anderson FC, Pandy MG (2001). Static and dynamic optimization solutions for gait are practically equivalent. Journal of Biomechanics 34: 153-161.
  Anderson and Pandy, Dynamic Optimization of Human Walking, J. Biom. Eng. 123:381-390, 2001
  Chapters 5, 7, and 8 of Hardt's thesis: Multibody Dynamical Algorithms, Numerical Optimal Control, with Detailed Studies in the Control of Jet Engine Compressors and Biped Walking Department of Electrical and Computer Engineering (Intelligent Systems, Robotics, and Control) University of California San Diego, June 1999.
  
• Mar 13: NO CLASS: Spring Break
• Mar 15: NO CLASS: Spring Break
• Mar 20 ZMP, balance, stepping to balance: Stephens
  Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications M. B. Popovic, A. Goswami, and H. Herr International Journal of Robotics Research, Vol. 24, No. 12, 2005.
  A biomechanically motivated two-phase strategy for biped upright balance control, M. Abdallah and A. Goswami, in Proceedings of the 2005 IEEE International Conference on Robotics and Automation, April 2005, pp. 18-22.
  Optional Readings and Extras:
  A Realtime Pattern Generator for Biped Walking, Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi and Hirohisa Hirukawa ICRA2002
  
• Mar 22 Control: Mahboobin
  Sensors and Control Concept of Walking "Johnnie" . Loffler, M. Gienger, F. Pfeiffer, The International Journal of Robotics Research Vol. 22, No. 3-4, 2003, pp. 229-239.
  Control Architecture and Algorithms of the Anthropomorphic Biped Robot Bip2000 Christine Azevedo and the BIP team
  Optional Readings and Extras:
  BIP overview
  Nonlinear control
  Towards Force Interaction Control of Biped Robots
  Human Error Recovery for A Human/Robot Parts Conveyance System
  
• Mar 27 Error recovery: Kei
  Capture Point: A Step toward Humanoid Push Recovery J. Pratt, J. Carff, S. Drakunov and A. Goswami, Humanoids 2006
  Stepping Motion for a Human-like Character to Maintain Balance against Large Perturbations Shunsuke Kudoh Taku Komura Katsushi Ikeuchi 2006 IEEE International Conference on Robotics and Automation
  
• Mar 29 Central Pattern Generators: Maas
  Wikipedia: CPG
  Review Paper Neural control of locomotion; Part 1: The central pattern generator from cats to humans Jacques Duysens, Henry W.A.A. Van de Crommert, Gait and Posture 7 (1998) 131-141
  A walking robot called human: lessons to be learned from neural control of locomotion J. Duysens, H.W.A.A. Van de Crommert, B.C.M. Smits-Engelsman, F.C.T. Van der Helm, Journal of Biomechanics 35 (2002) 447-453
  Optional Readings and Extras:
  Central Pattern Generators, Hooper
  Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking, J. Morimoto, G. Endo, J. Nakanishi, S. Hyon, G. Cheng, D. Bentivegna and C.G. Atkeson, ICRA 2006.
  
• Apr 3 NO CLASS
• Apr 5 NO CLASS
• Apr 10 Human error recovery: Wang
  A. M. Schillings, B. M. H. V. Wezel, T. Mulder, and J. Duysens, "Muscular Responses and Movement Strategies during Stumbling over Obstacles," Journal of Neurophysiology, no. 83, pp. 2093 2000.
  Wieber, P. B.: On the stability of walking systems. Proceedings of the International Workshop on Humanoid and Human Friendly. Robotics, 2002
  Optional Readings and Extras:
  M. B. Popovic, A. Goswami and H. Herr (2005). "Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications," International Journal of Robotics Research Vol. 24, No. 12, pp. 1013-1032
  Reimund Renner and Sven Behnke. Instability Detection and Fall Avoidance for a Humanoid using Attitude Sensors and Reflexes. Proceedings of the 2006 IEEE/RSJ. International Conference on Intelligent Robots and Systems. October 9 - 15, 2006, Beijing, China
  KangKang Yin, Dinesh K. Pai, and Michiel van de Panne, Data-driven Interactive Balancing Behaviors. Pacific Graphics, Macao, China, October 12-14, 2005
  
• Apr 12 Gait Transitions: Johnson
  Biped gait transitions. Hodgins, J. 1991, Proceedings of the IEEE International Conference on Robotics and Automation. pp. 2091-2097.
  Gaits and Gait Transitions for Legged Robots G. Haynes and A. Rizzi Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May, 2006.
  
• Apr 17 Dynamic planning/control: Cuzzillo
  Qualitative hybrid control of dynamic bipedal walking. S. Ramamoorthy and B.J. Kuipers. 2007. In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II, MIT Press.
  Virtual Model Control: An Intuitive Approach for Bipedal Locomotion Jerry Pratt Chee-Meng Chew Ann Torres Peter Dilworth Gill Pratt, International Journal of Robotics Research Vol. 20, No. 2, pp. 129-143, 2001.
• Apr 19: NO CLASS: Carnival
• Apr 24 Learning: Chung
  Reinforcement Learning of Dynamic motor Sequence: Learning to stand up, Jun Morimoto, Kenji Doya, IROS, pp.1721-1726, 1998
  Humanoid Robot Control Based on Reinforcement Learning, Iida, S. Kato, S. Kuwayama, K. Kunitachi, T. Kanoh, M. Itoh, H., Micro-Nanomechatronics and Human Science, pp.353-358, 2004.
  
• Apr 26 Learning: Cho
  Reinforcement Learning Control for Biped Robot Walking on Uneven Surfaces, Shouyi Wang, Braaksma, J. Babuska, R. Hobbelen, D. IJCNN '06.
  Reinforcement Learning for a CPG-driven Biped Robot, Mori, T., Nakamura, Y., Sato, M.,& Ishii, S. (AAAI2004)
  Optional Readings and Extras:
  Learning from demonstration and adaptation of biped locomotion, Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal and Mitsuo Kawato. Robotics and Autonomous Systems Volume 47, Issues 2-3, 30 June 2004, Pages 79-91
  Poincare-Map-Based Reinforcement Learning For Biped Walking, Jun Morimoto Jun Nakanishi Gen Endo Cheng, G. Atkeson, C.G. Zeglin, G ICRA 2005
  Stochastic Policy Gradient Reinforcement Learning on a Simple 3D Biped, Tedrake, R. Zhang, T.W. Seung, H.S. IROS 2004
  
• May 1 NO CLASS
• May 3 Robot Jumping: Brown
  Humanoid Vertical Jumping based on Force Feedback and Inertial Forces Optimization Sophie Sakka and Kazuhito Yokoi, ICRA05
  Mowgli: A Bipedal Jumping and Landing Robot with an Artificial Musculoskeletal System Ryuma Niiyama, Akihiko Nagakubo, Yasuo Kuniyoshi, ICRA07
  

Course Description

This IGERT/QoLT course explores the principles and practicalities of legged locomotion (both biped and quadruped). We will focus on developing control algorithms for a human-sized bipedal robot and for a small quadruped robot "Little Dog". There will be a mix of lectures given by the instructor and presentations by participants. Participants will read and present key papers, explore research issues in simulation, and ideally test ideas on actual robots. We are also interested in insights into human locomotion and how to program graphical characters.

Previous Version Of Course

Resources: Under Construction ...

Local Legged Locomotors

• Electric Biped
• Sarcos Biped.
• Quadruped: Little Dog
• Hexapod: Rhex
• Hexapod: Rise
• Highly Dynamic Biped
• Honda ASIMO
• Sony QRIO
• ...

Information Sources

• Kajita writeup of ZMP approach
• ICRA 2006 Workshop on Understanding Humanoid Robots
• Dynamic Walking 2006
• ...

People and Places

• W prize
• Andy Ruina
  1 km walk
• Art Kuo
• Wisse
• Humanoid Robotics Institute, Waseda University
• Takanishi
• ...

Robots

• Android World
• Plyojump.com
• Honda ASIMO another link
• Sony QRIO
• Fujitsu HOAP 3
• Toyota Partner Robots
• Kawada HRP2
• KAIST Humanoid Robot-1: KHR-1, KHR-2, KHR-3 named HUBO, HUBO FX-1, and Albert HUBO.
• ...