[robotics-worldwide] IEEE BioRob Workshop - Modeling locomotion of humans and humanoids

Katja Mombaur katja.mombaur at iwr.uni-heidelberg.de
Wed May 2 23:55:12 PDT 2012

****   Call for participation at the  IEEE BioRob Workshop   ****
                Modeling locomotion of humans and humanoids

Organizers: Katja Mombaur, University of Heidelberg,  Germany
Jean-Paul Laumond and Philippe Soueres, LAAS-CNRS, Toulouse

June 24, 2012 at IEEE BioRob in Rome, Italy

The model-based investigation of dynamic motions of anthropomorphic 
systems is an important research topic in humanoid robotics, 
biomechanics and computer animation. Basic locomotion forms such as 
walking and running is of particular interest due to the high demand on 
dynamic coordination, actuator efficiency and balance control, as well 
as steering decisions. Mathematical models and numerical simulation and 
optimization techniques - in combination with experimental data - can 
help to better understand and improve the basic underlying mechanisms of 
healthy and pathological locomotion, e.g. in sports or after an accident 
or an illness. Mathematical models can also serve to control locomotion 
of humans walking with a prosthetic device, an orthosis or exoskeleton, 
or even assist the design of these devices. In addition, models help to 
do the transfer from recorded human experiments to a humanoid platform 
in a way that produces feasible motions for the humanoid. There are two 
different levels at which human and humanoid locomotion can be studied :
     .    The generation of motions and torques on the joint level which 
usually is driven by laws of energy consumption, stability, fatigue 
minimization or the placement of a foot on a given foothold;
     .    the trajectories of the human or humanoid as a whole in space 
that are chosen to walk to a given target in free space, to avoid 
obstacles or interact with other humans or humanoids.
Both topics are represented in this workshop.
The establishment of good locomotion models is a highly 
interdisciplinary research task. The goal of this full-day workshop at 
IEEE BioRob 2012 is to gather researchers of all related fields to 
promote the interdisciplinary discussion.

Confirmed speakers
     .    Tamim Asfour, KIT, Germany: Whole-Body Motion Generation 
Based  on Motion Primitives
     .    Armel Crétual, Univ Rennes 2,  France: Realistic Modeling of 1 
vs. 1 Interactions during Locomotion
     .    Tamar Flash, Weizman Institute, Israel: Trajectory formation 
and intersegmental coordination principles during human locomotion
     .    Martin Giese, University of Tübingen, Germany : Stability in 
the formation of collective human locomotion patterns
     .    Jean-Paul Laumond, LAAS-CNRS, France: Locomotion and robotic 
action space
     .    Tobias Meilinger, MPI Tübingen, Germany: Modeling errors in 
human navigation
     .    Katja Mombaur, University of Heidelberg, Germany: Modeling of 
fast running motions with prostheses
     .    Francesco Nori, IIT, Genua, Italy: Modeling crawling 
locomotion for the iCub robot
     .    Yann Perrot, CEA, Paris, France: Modeling exoskeletons
     .    Julien Pettré, INRIA Rennes, France: Realistic Modeling of 
Follower Locomotion Behavior
     .    Philippe Souères, LAAS-CNRS, France:  A multisensory root as a 
key principle to simplify the observation and control of anthropomorphic 
     .    Manish Sreenivasa, University of Tokyo, Japan: Researching 
Locomotion: Perspectives, synergies and pitfalls from methods in 
Neuroscience, Bio-mechanics and Robotics

More information at
kmombaur at uni-hd.de

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