Book of Abstracts: [pdf]
Detailed Schedule
Location: Room 220, Wheeler Hall, UC Berkeley.
Session on Dynamics
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Time
07:55am - 08:00am 08:00am - 08-25am 08:25am - 08:50am 08:50am - 09:15am 09:15am - 09:40am 09:40am - 10:05am 10:05am - 10:20am 10:20am - 10-40am |
Speaker
Aaron & Koushil Andre Seyfarth Hartmut Geyer Jonathan Hurst Katja Mombaur Manoj Srinivasan Coffee Break Ioannis Poulakakis |
Title
Welcome and Introduction Conceptual Models for Real-World Locomotion Decentralized Control in Natural and Artificial Legged Systems A Case for Spring-Mass Physics in Legged Robots - Energy Optimality in Novel Locomotion Tasks: Experiments, Theory, and Simple Models Coffee Break Quadrupedal Running with Torso Compliance |
Session on Control
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Time
10:40am - 11:05am 11:05am - 11:30pm 11:30pm - 11:50pm 11:50pm - 03:00pm 03:00pm - 03-20pm 03:20pm - 03:40pm 03:40pm - 04:00pm |
Speaker
Emo Todorov Anton Shiraev Kaveh Hamed (Jessy Grizzle) World Cup & Lunch Break Koushil Sreenath Aaron Ames Robert Gregg |
Title
Estimation and control as dual trajectory optimization problems Dynamical Walking with two and more passive degrees of freedom Continuous-Time Controllers for Robust Stabilization of 3D Bipedal Walking Join us for Lunch and catch the FIFA World Cup Final Control Lyapunov Function based Quadratic Programs for Torque Saturated Bipedal Walking Dynamic Multi-Contact Bipedal Walking Virtual Constraint Control of a Powered Prosthetic Leg: Experiments with Transfemoral Amputees |
Session on Robotics
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Time
04:00pm - 04:20pm 04:20pm - 04:35pm 04:35pm - 05:00pm 05:00pm - 05:20pm 05:20pm - 05:40pm 05:40pm - 06:00pm 06:00pm - 06:20pm 06:20pm - 06:35pm 06:35pm - 06:50pm 06-50pm-06:55pm |
Speaker
Aaron Johnson (Dan Koditschek) Sergey Levine (Pieter Abbeel) Coffee Break Scott Kuindersma (Russ Tedrake) Siyuan Feng (Chris Atkeson) Cenk Oguz Saglam (Katie Byl) Pranav Bhousle Massimo Vespignani (Auke Ijspeert) John Schulman (Pieter Abbeel) Aaron & Koushil |
Title
Gait Design Using Self–Manipulation Learning Locomotion Controllers via Trajectory Optimization Coffee Break Whole-body Dynamic Locomotion Planning and Control for a Hydraulic Humanoid Robot Optimization-Based Full Body Control For The DARPA Robotics Challenge Biped Locomotion as a Metastable Markov Decision Process Gait planning and control of walking robots based on energy regulation between steps Sensorized Foot Design for Robust Locomotion: A Study Using Cheetah-Cub Learning Locomotion Controllers with a Policy Iteration Algorithms Closing Remarks |