© Alain Herzog, EPFL

AMAM 2019 Conference booklet

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Foreword

A warm welcome to AMAM 2019, the 9th International Symposium on Adaptive Motion of Animals and Machines.

Investigating how animals and humans excel at adaptive movements including locomotion can help engineers to improve the adaptive capabilities of robots. In return, robots can serve as scientific tools to explore the basic principles of biological systems, in particular the neuromechanical mechanisms underlying their fascinating motor abilities. AMAM 2019 is the 9th international symposium dedicated to stimulate fruitful interactions among biologists and engineers interested in adaptive motion. It brings together researchers in robotics, biomechanics, neuroscience, sports science, and other fields related to behaviour in biological and artificial systems.

For this iteration, we are happy to present an exciting single track program made of 6 plenary presentations, one special lecture, 25 invited speakers, approximately 80 posters, and a dozen of demos. All these contributions cover multiple scientific fields, a large variety of different motor behaviours, and many different countries. We hope that AMAM 2019 will lead to new interdisciplinary collaborations and life-long friendships, and wish you a wonderful time in Lausanne.

Sincerely yours,

Auke Ijspeert, General Chair,on behalf of the Program and Local organization committees

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Sponsors

We would like to deeply thank financial support from the Swiss National Science Foundation, Maxon Motors, and the Company of Biologists. In particular, we would like to thank the Swiss National Science Foundation to cover some of the costs of invited speakers, Maxon Motors to support the plenary speakers, and the Company of Biologists to provide financial support to five young scientists for attending the conference. We would also like to acknowledge logistic support from the EPFL.

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Program committee• Hitoshi Aonuma, Hokkaido University, Japan• Monica Daley, Royal Veterinary College, UK• Koh Hosoda, Osaka University, Japan• Fumiya Iida, Cambridge, UK• Auke Ijspeert, EPFL, Lausanne, Switzerland• Akio Ishiguro, Tohoku University, Japan• Masato Ishikawa, Osaka University, Japan• Takeshi Kano, Tohoku University, Japan• Sangbae Kim, MIT, USA• Jun Nishii, Yamaguchi University, Japan• Dai Owaki, Tohoku University, Japan• Andre Seyfarth, TU Darmstadt, Germany• Emily Standen, University of Ottawa, Canada• Dagmar Sternad, Northeastern University, USA• Barry Trimmer, Tufts University, USA• Eric Tytell, Tufts University, USA• Hartmut Witte, TU Ilmenau, Germany• Amy Wu, Queen’s University, Canada

Local organization committee• Jonathan Arreguit• Alessandro Crespi• Sylvie Fiaux• Valérie Jacot-Descombes• Anne Koelewijn• Mehmet Mutlu• Laura Páez

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Day 1Tuesday August 20th

8:00–8:50 Registration (chair)8:50–9:00 Welcome address

9:00–10:00 Plenary, Grégoire Courtine A. Ijspeert

10:00–10:20 Coffee, set up posters A

10:20–12:20 Human locomotion10:20 Charlotte Le Mouel10:50 Shinya Aoi11:20 Nidhi Seethapathi11:50 Francisco Valero-Cuevas

H. Witte

12:20–13:30 Lunch, optional posters A

13:30–14:30 Plenary, Monica Daley A. Seyfarth

14:30–15:30 Human motor control14:30 Dagmar Sternad 15:00 David Franklin

A. Koelewijn

15:30–15:50 Coffee

15:50–16:40 Poster highlights A A. Ijspeert16:40–19:00 Official poster Session A, and

optional robot demos

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Day 2Wednesday August 21st

9:00–10:00 Plenary, Lena Ting D. Sternad

10:00–10:20 Coffee

10:20–12:20 Swimming and aquatic behaviour10:20 Megan Leftwich10:50 Tetsuya Iwasaki11:20 Katsu Kagaya11:50 Ulrike Müeller

E. Standen

12:20–13:30 Lunch, optional posters A

13:30–14:30 Plenary, Radhika Nagpal E. Tytell

14:30–15:30 Swimming14:30 Kotaro Yasui15:00 Emily Standen

J. Nishii

15:30–15:50 Coffee, set up posters B(removal of posters A)

15:50–16:40 Poster highlights B A. Crespi16:40–19:00 Official poster Session B, and

optional robot demos

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Day 3Thursday August 22nd

9:00–10:00 Plenary, Herman van der Kooij M. Daley

10:00–10:20 Coffee

10:20–12:20 Palaeontology, evolution & cool robots10:20 John Hutchinson10:50 Chris Richards11:20 Kamilo Melo11:50 Jamie Paik

A. Ishiguro

12:20–13:30 Lunch, optional posters B

13:30–14:30 Special talkMax Erick Busse-Grawitz, Maxon

A. Ijspeert

14:30–15:30 Legged robots14:30 Sangbae Kim15:00 Katja Mombaur

K. Hosoda

15:30–17:20 Coffee and official robot demo session

17:20–18:15 Transit to Ouchy by public transport18:15–21:30 Boat departure from dock 2 & banquet

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Day 4Friday August 23rd

9:00–10:00 Plenary, Dario Floreano B. Trimmer

10:00–10:20 Coffee

10:20–12:20 Flying & insects10:20 Elizabeth Helbling10:50 David Lentink11:20 Simon Sponberg11:50 Beth Mortimer

H. Aonuma

12:20–14:00 Lunch, optional demos, optional posters B

14:00–15:30 Insects14:00 Barbara Webb14:30 Pavan Ramdya15:00 Poramate Manoonpong

S. Kim

15:30–16:00 Best poster & best demo ceremony

16:00–17:00 Farewell drinks

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Plenary Speakers (alphabetical order)

Grégoire Courtine(EPFL, Switzerland)

Targeted neurotechnologies to restore walking after paralysis

Over the past 15 years, my research team has developed a multipronged intervention that re-established voluntary control of paralyzed legs in animal models of spinal cord injury, and recently in humans. This intervention acts over two time-windows. Immediately, electrical and chemical stimulations applied to the lumbar spinal cord reawaken the neuronal networks below the injury that coordinate leg movements, enabling voluntary control of paralyzed muscles during locomotion. In the long term, will-powered training regimens enabled by these electrochemical stimulations and cutting-edge robotic assistance promote an extensive neuroplasticity of residual connections that restores locomotion without electrochemical stimulation. During my talk, I will discuss the technological and conceptual development of the neurotechnologies that supported the implementation of this therapy in rodent and non-human primate models, before their application in humans.

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Monica Daley(UC Irvine, USA)

Running birds, humans and robots: Principles of leg control for robustly stable

and agile bipedal locomotion

Birds are diverse and agile vertebrates with exceptional ecological range, capable of many combinations of aerial, terrestrial, and aquatic locomotion. Although birds are most noted for flight, birds are among the most agile terrestrial bipeds, with a 230-million-year evolutionary legacy from theropod dinosaurs. Consequently, ground birds such as guinea fowl serve as useful animal models to study the integration of mechanics and neuromuscular control for bipedal locomotion (Daley (2018), Int & Comp Bio, 58:84–893). In this talk, I will review my lab’s research using terrain perturbations, in vivo recordings of muscle dynamics and integrative biomechanical analysis to reveal neuromechanical control strategies for robust, stable and agile locomotion. We focus on revealing fundamental principles that can be applied in the design and control of bio-inspired robotics and human-assistive devices.

See also an extended abstract in the online conference proceedings.

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Dario Floreano(EPFL, Switzerland)

Drones with adaptive morphology

The use of drones in confined spaces and near humans presents great sci-entific and technical challenges in perception and mechanical design. In this talk I will show that biologically-inspired design principles and soft robotics technologies can improve usability, resilience, and human safety of drones. In particular, I will describe examples of biologically inspired drones that leverage morphological adaptation to gain novel capabilities and simplify control problems.

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Radhika Nagpal(Harvard University, USA)

Collective intelligence, from nature to robots

In nature, groups of thousands of individuals cooperate to create complex structure purely through local interactions—from cells that form complex organisms, to social insects like termites that build meter-high mounds and army ants that self-assemble into bridges and nests, to the complex and mesmerizing motion of fish schools and bird flocks. What makes these systems so fascinating to scientists and engineers alike, is that even though each individual has limited ability, as a collective they achieve tremendous complexity.

What would it take to create our own artificial collectives of the scale and complexity that nature achieves? In this talk I will discuss four different ongoing projects that use inspiration from biological self-assembly to create robotic systems: The Kilobot Swarm, inspired by cells, the Termes robots, inspired by mound-building termites, the Eciton soft robots inspired by army ants, and the BlueSwarm project inspired by fish schools. There are many challenges for both building and programming robot swarms, and we use these systems to explore decentralized algorithms, embodied intelligence, and methods for synthesizing complex global behavior. Our theme is the same: can we create simple robots that cooperate to achieve collective complexity?

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Lena Ting(Emory University & Georgia Inst. of Technology, USA)

Revisiting muscle spindle function for sensorimotor control

Sensory information about our body motion and interactions with the environment is critical for movement. However, we lack a mechanistic understanding of the movement-related signals encoded by muscle spindles that richly innervate our muscles. We hypothesize that muscle spindles encode force and yank, i.e. the rate change of force over time, of intrafusal muscle fibers within their sensory regions. Here we show that a range of classical and paradoxical muscle spindle firing characteristics are emergent from muscle biophysics. Our model predicts a spectrum of muscle spindle firing phenotypes to the same stretch, and changes in the relationship of muscle spindle firing rates to muscle length and velocity due to prior movement, external load, and neural drive to the spindle. Our multi-scale muscle spindle model provides a unifying biophysical framework based on first principles that may broadly explain movement-related sensory signals in health and disease. We speculate that Golgi tendon organs encode re-afference, that is the effects of one’s action on the world, whereas muscle spindles encode ex-afference, or the effect of the environment on the body.

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Herman van der Kooij(Univ. of Twente & Delft University

of Technology, Netherlands)

Human balance control: From experiments to predictive models to applications in wearable robots

We study human balance control during standing and walking by analysing responses evoked by mechanical perturbations. We developed simple template models and more realistic neuro-mechanical models to interpreted and predict how humans respond to various mechanical perturbations and how they maintain balance. We translated these predictive models into human inspired controllers of wearable robots. We designed and realized a modular exoskeleton for the lower extremities, which consists of 8 lightweight (1.5 kg) powerful universal joints with series elastic actuators, which allow for high fidelity and high bandwidth torque control. The exoskeleton can be used in different configurations, like ankle only, ankle and knee, and ankle-knee-hip. All configurations can be used for one leg or both legs. We demonstrated that with this exoskeleton and using human inspired (neuromuscular) controllers, we can enhance standing balance and the walking speed of subjects with an incomplete spinal cord injury wearing our exoskeleton. The exoskeleton was also used by a test pilot with a complete spinal cord injury to successfully practise the Cybathlon 2016 obstacles. The accurate low level torque control and the larger number of (powered) joints compared to other (commercial available) exoskeletons are advantageous, in particular when standing and walking on non-flat terrain.

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Special lecture, Max Erick Busse-Grawitz(Maxon Motor, Switzerland)

Robots with embodied intelligence and artificial intel-

ligence: concepts, limits, ideas and solutions

Intelligent actuators are on the rise. There is a paradigm shift from purely rigid actuators with a sole focus on mechanical precision towards compliant systems that can more easily adapt to fast-changing and unstructured environments and pick natural objects with not-so-well-defined geometries.

There are two major ways to bridge the gap between nature and technology: intelligent hardware and intelligent software. Intelligent hardware includes a multiplicity of well-adapted sensors and several architectures of compliant hardware like series elastic actuators (SEAs) and dielectric elastomer actuators (DEAs). Intelligent software can be any of the domains of artificial intelligence (AI) and machine learning (ML). One of the big questions is: how much of the intelligence can be provided by software alone, and how much intelligence needs to be embodied in hardware? This talk will indeed show that any intelligent robot system starts with well-adapted actuators and sensors, because there are hard mathematical and physical limits that cannot be overcome with software alone: limits in causality, invertibility and epistemology show that a good solution starts with intelligent hardware design and that the marginal value of software has a high positive correlation with the value of the underlying hardware. Examples and evidence from nature, engineering and mathematics will be presented to support that claim.

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Invited Speakers (alphabetical order)

• Shinya Aoi (Kyoto University, Japan)Neuromusculoskeletal models that exhibit locomotor functions by controlling muscle synergy activities

• David Franklin (Technische Universität München, Germany)Feedforward and feedback learning in human sensorimotor control

• Elizabeth Farrell Helbling (Harvard University, USA)Taking off: the design of the first autonomous, insect-scale flying robots

• John R. Hutchinson (Royal Veterinary College, UK)Modelling and simulation of musculoskeletal biomechanics in animals through Deep Time

• Tetsuya Iwasaki (University of California, Los Angeles, USA)Neuronal feedback mechanisms for adaptive pattern generation

• Katsushi Kagaya (Kyoto University, Japan)Individualities in ultrafast movement and camouflaging behavior in crustaceans

• Sangbae Kim (MIT, USA)Robots for physical interaction

• Megan Leftwich (The George Washington University, USA)Flow structures of a robotic sea lion foreflipper

• Charlotte Le Mouel (Max Planck Institute for Intelligent Systems, Germany)Postural adjustments for mobility and balance

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• David Lentink (Stanford University, USA)Avian inspired design

• Poramate Manoonpong (Univ. of Southern Denmark, Denmark)Learning from a dung beetle to advance robotic development: A bio-inspired approach

• Kamilo Melo (EPFL, Switzerland)From a fossil to a robot and all the STEPS in between

• Katja Mombaur (Heidelberg University, Germany)Understanding whole-body dynamics of human bipedal locomotion for better robot control

• Beth Mortimer (University of Oxford, UK)Good vibrations: How animals gather information along surfaces

• Ulrike Müller (California State University Fresno, USA)Suction feeding in the carnivorous plant bladderwort (Utricularia)—insights from a plant on actuating fast flows

• Jamie Paik (EPFL, Switzerland)Soft robots for invisible intuitive interactions

• Pavan Ramdya (EPFL, Switzerland)Reverse-engineering Drosophila behavior

• Chris Richards (Royal Veterinary College, UK)Frog-inspired biorobotics

• Nidhi Seethapathi (University of Pennsylvania, USA)Transients, variability, stability and energy in human locomotion

• Simon Sponberg (Georgia Institute of Technology, USA)Precise timing information in the coordination and centralization of agile insect locomotion

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• Emily Standen (University of Ottawa, Canada)Extricating mechanical constraint from nervous control during locomotion

• Dagmar Sternad (Northeastern University, USA)Control of dynamically complex objects: stability and predictability

• Francisco J. Valero-Cuevas (Univ. of Southern California, USA)Autonomous functional locomotor movements in a tendon-driven limb via limited experience

• Barbara Webb (University of Edinburgh, UK)Modelling locomotor dynamics in Drosophila larvae

• Kotaro Yasui (Tohoku University, Japan)Understanding flexible motor control mechanism by studying amphibious locomotion of centipedes

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Poster presentationsSession A

A 1 A kinematic synergy for terrestrial locomotion shared by mammals and birds. Giovanna Catavitello, Yury Ivanenko, Francesco Lacquaniti

A 2 Analysis of locust’s unique gait mechanism focusing on leg length difference. Yasuhiro Sugimoto, Shuntaro Sugiyama, Keisuke Naniwa, Koichi Osuka

A 3 Non-trivial behaviors emerging from a simple decentralized rules (Part 1): A case study with one-dimensional crawling locomotion. Takeshi Kano, Daiki Kanto, Akio Ishiguro

A 4 Non-trivial behaviors emerging from a simple decentralized rules (Part 2): A case study with swarming of individuals. Takeshi Kano, Naoki Matsui, Eiichi Naito, Takenobu Aoshima, Akio Ishiguro

A 5 A salamander robot driven by cross-coupled sensory feedback control between legs and trunk. Shura Suzuki, Takeshi Kano, Auke J. Ijspeert, Akio Ishiguro

A 6 Dynamic intra-swarm module relocation using the brazil nut effect. Devwrat Omkar Joshi, Masahiro Shimizu, Koh Hosoda

A 7 VSBot: Navigation of a robot based on a variable stiffness sensor. José Zárate, Thomas Helbig, Hartmut Witte

A 8 Energy efficiency analysis of the tegotae approach for bio-inspired hopping. Riccardo Zamboni, Dai Owaki, Mitsuhiro Hayashibe

A 9 Defecation initiates a stereotyped behavior in the cricket Gryllus bimaculatus. Keisuke Naniwa, Yasuhiro Sugimoto, Koichi Osuka, Hitoshi Aonuma

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A 10 Unmanned aerial odour distribution sensing: flying pattern for minimising airflow turbulence. Bluest Lan, Ando Noriyasu, Ryohei Kanzaki

A 11 Modeling and online learning of musculoskeletal intersensory networks for static controls of tendon-driven humanoids. Kento Kawaharazuka, Kei Tsuzuki, Shogo Makino, Yuki Asano, Kei Okada, Masayuki Inaba

A 12 Modular neural control for dung beetle-like leg movements of a dung beetle-like robot. Binggwong Leung, Peter Billeschou, Mathias Thor, Poramate Manoonpong

A 13 Interactions between spinal circuits and afferent feedback to control locomotion at different speeds: A computational modeling study. Simon M. Danner, Shinya Aoi, Soichiro Fujiki, Sergey N. Markin, Turgay Akay, Dai Yanagihara, Ilya A. Rybak

A 14 Designing feathered morphing wings for biohybrid aerial robots. Laura Y. Matloff, Eric Chang, Amanda K. Stowers, David Lentink

A 15 The Pneufish: A soft-robotic, pneumatic model for studying fish locomotion. Zane Wolf, George Lauder

A 16 Bio-inspired actuator design for hopping. Aida Mohammadi Nejad Rashty, Martin Grimmer, Andre Seyfarth

A 17 Analysis of pressure forces during spontaneous turns in Zebrafish. Robin Thandiackal, George V. Lauder

A 18 Task achievement by switching emergent locomotion patterns with embodiment coupled chaotic maps. Kie Horiuchi, Shogo Yonekura, Ryuma Niiyama, Yasuo Kuniyoshi

A 19 A concept of cognitive-based locomotion for quadruped robot. Azhar Aulia Saputra, Naoyuki Kubota, Auke J. Ijspeert

A 20 The positive side of damping. Steve Heim, Matthew Millard, Charlotte Le Mouel, Alexander Spröwitz

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A 21 Decentralized control scheme for adaptive body-limb coordination in centipede walking. Kotaro Yasui, Kazuki Furukawa, Akira Fukuhara, Takeshi Kano, Akio Ishiguro

A 22 Inter- and intra-limb coordination mechanism under limited actuator capabilities in adaptive quadruped locomotion. Akira Fukuhara, Sora Saito, Wataru Suda, Takeshi Kano, Akio Ishiguro

A 23 Elucidation of posture control during bipedal walking. Chika Yamane, Shoko Kaichida, Jun Nishii

A 24 Role of trunk inertia in non-stepping balance recovery. Christian Schumacher, Andrew Berry, André Seyfarth, Heike Vallery

A 25 Spinal reflexes exploit muscle characteristics: goal-directed arm movements in humans and bioinspired robotics. Daniel F.B. Haeufle, Christina Pley, Katrin Stollenmaier, Winfried Ilg, Simon Wolfen, Syn Schmitt

A 26 An EMG-marker tracking optimization method to simulate equinus gait. Florent Moissenet, Colombe Bélaise, Benjamin Michaud, Mickaël Begon

A 27 Body flexibility effect on rotary galloping based on a simple model. Tomoya Kamimura, Shinya Aoi, Yasuo Higurashi, Taiki Matsuo, Naomi Wada, Kazuo Tsuchiya, Fumitoshi Matsuno

A 28 Reflex-based walking controller for real bipedal robot—From phase-based to reflex-based. Ryu Takahashi, Koh Hosoda

A 29 Does VPP exist in lateral balancing? Vahid Firouzi, Andre Seyfarth, Maziar A. Sharbafi

A 30 Torsional body flexibility effect on stability in trot and pace based on a simple model. Mau Adachi, Tomoya Kamimura, Shinya Aoi, Kazuo Tsuchiya, Fumitoshi Matsuno

A 31 Soft machines made from fish myofibrillar proteins. Yoichi Masuda, Masato Ishikawa

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A 32 Motion hacking—Toward control of insect walking. Dai Owaki, Volker Dürr, Josef Schmitz

A 33 Evolution of online update rules for robust locomotion in the SLIP model. Kathryn Walker, Helmut Hauser

A 34 More than skin deep: Crawling soft robots with functional skin. Cassandra M. Donatelli, Anthony Scibelli, Ben Tidswell, Eric D. Tytell, Barry A. Trimmer

A 35 Promoted propulsion by foot windlass mechanism in jumping. Xiangxiao Liu, Tsung-Yuan Chen, Yuntong Xu, Shuhei Ikemoto, Masahiro Shimizu, Koh Hosoda

A 36 A novel CPG for smooth and bounded trajectory generation from motion library. Venus Pasandi, Aiko Dinale, Mehdi Keshmiri, Daniele Pucci

A 37 Adaptive morphology in aerial-aquatic robots. Raphael Zufferey, Sophie Armanini, André Farinha, Mirko Kovac

A 38 Lower limb muscle activity in humans walking overground at simulated reduced gravity levels. Mhairi MacLean, Daniel Ferris

A 39 nmF: a leg force guided neuromuscular model for balance control in walking. Ayoob Davoodi, Omid Mohseni, Andre Seyfarth, Maziar Ahmad Sharbafi

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Poster presentationsSession B

B 1 Body of a high-speed anthropomorphic table-tennis robot with a linkage mechanism. Kazutoshi Tanaka

B 2 Trajectory optimization for wheeled quadrupedal robots driving in challenging terrain. Vivian S. Medeiros, Marko Bjelonic, Edo Jelavic, Roland Siegwart, Marco A. Meggiolaro, Marco Hutter

B 3 Gait analysis of crawling locomotion of Octopus sinensis. Jun Nishii, Miyuki Ikeda

B 4 Contribution of each joint to the inter-joint synergy during walking. Tomoko Hioki, Jun Nishii

B 5 Locomotor control of Polypterus senegalus in viscous water. Keegan Lutek, Emily Standen

B 6 Biohybrid morphing tail aerial robot. Eric Chang, David Lentink

B 7 Using mutual information to analyze adaptations to loading, speed, and terrain. Izaak D. Neveln, Chris Dallmann, Simon Sponberg

B 8 Training with brief visual occlusions improves balance control in treadmill beam walking. Evangelia-Regkina Symeonidou, Daniel P. Ferris

B 9 Neuromuscular reflex based hopping control for a two-segmented robotic leg. Guoping Zhao, Vitus Henning, Andre Seyfarth

B 10 Snail-inspired crawling locomotion using urethane gel and shape memory alloy. Toshiyuki Araki, Yoishi Masuda, Masato Ishikawa

B 11 Understanding Polypterus senegalus walking locomotion from its center of mass displacements. Laura Paez, Kamilo Melo, Emily Standen, Auke J. Ijspeert

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B 12 Adaptive pitching motion kinematics for tuning flapping wing aerodynamic performance. Alexander Gehrke, Karen Mulleners

B 13 An integrated neurobiomechanical model of the mouse to study neural control of locomotion. Shravan Tata Ramalingasetty, Simon M. Danner, Auke J. Ijspeert, Ilya A. Rybak

B 14 Trajectory production without a trajectory plan. Adam Matic, Alex Gomez-Marin

B 15 Think with your feet, not with your head: A biologically inspired design approach for augmenting unsteady locomotion. Laksh Kumar Punith, Gregory S. Sawicki

B 16 How humans run on rough terrains. Nihav Dhawale, Madhusudhan Venkadesan

B 17 Exploration of sheepdog controller for sheep flock navigation based on the model derived from a real shepherding. Yusuke Tsunoda, Yuichiro Sueoka, Koichi Osuka

B 18 One approach to implicit observer: estimation of subpopulations in foraging by ants-like colony. Yuichiro Sueoka, Koichi Osuka

B 19 Effects of fin kinematics on 3D force generation in underwater large pectoral fin locomotion. T.V. Truonga, V.S. Josephb, P. Valdivia y Alvarado

B 20 Motion synthesis for legged-wheeled robotic creatures. Moritz Geilinger, Sebastian Winberg, Stelian Coros

B 21 Preliminary study on locomotion performance of wavebot on different surfaces using traveling waves. S.P. Murali Babu, Ali Sadeghi, Alessio Mondini, Barbara Mazzolai

B 22 Rapid prototyping of insect-exoskeleton inspired robots. Mingsong Jiang, Nick Gravish

B 23 Online prediction of synchronization dynamics in coupled oscillators system. Shunya Takayanagi, Dai Owaki, Mitsuhiro Hayashibe

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B 24 Optimizing the periodic motion of a foil at high-Reynolds number. Shreyas Mandre, Kenny S. Breuer, Michael J. Miller

B 25 Curvature-induced stiffness in mechanical mimics of the human foot. Ali Yawar, Shreyas Mandre, Madhusudhan Venkadesan

B 26 Passive mechanical stabilization of body rotations in jumping. Madhusudhan Venkadesan, Alexander Lee, Eric Chan

B 27 Uncovering the biarticular muscles contributions in pedaling by a musculoskeletal robotic platform. Tsung-Yuan Chen, Shuichi Kano, Hitoshi Takayama, Koh Hosoda

B 28 Muscles can be brakes: the work loop technique for stable muscle-like control. Xiaofeng Xiong, Poramate Manoonpong

B 29 Investigating phase resetting effect on adaptive rhythm control in walking based on phase response curve using a neuromusculoskeletal model. Daiki Tamura, Shinya Aoi, Tetsuro Funato, Soichiro Fujiki, Kei Senda, Kazuo Tsuchiya

B 30 Experimental investigation of turning maneuverability of a multilegged robot using pitchfork bifurcation. Ryoe Tomatsu, Yuki Yabuuchi, Shinya Aoi, Soichiro Fujiki, Tetsuro Funato, Kei Senda, Kazuo Tsuchiya

B 31 Investigating phase resetting effect on basin of attraction for walking using a simple model. Kota Okamoto, Shinya Aoi, Ippei Obayashi, Hiroshi Kokubu, Kei Senda, Kazuo Tsuchiya

B 32 Cooperative bridge building by self-reconfigurable modular robotsbased on ants’ stigmergic behaviour. Jasmine Nguyen-Duc, Mehmet Mutlu, Simon Hauser, Alexandre Bernardino, Auke J. Ijspeert

B 33 An ant-inspired control strategy for active sensing of a crawling robot in a cluttered environment. Muhammad Bilal Khan, Jørgen Christian Larsen, Poramate Manoonpong

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B 34 Neuromechanical simulation of human locomotion: descending modulation of spinal reflex parameters during speed changes. Andrea Di Russo, Anne Koelewijn, Florin Dzeladini, Auke Ijspeert

B 35 Learning to walk in arbitrary legged morphologies. Simon Hauser, Matthieu Dujany, Martijn van der Sar, Mehmet Mutlu, Auke J. Ijspeert

B 36 Development of a human neuromuscular balance controller. Anne D. Koelewijn, Huawei Wang, Florin Dzeladini, Andrea Di Russo, Auke J. Ijspeert

B 37 Considerations of limb impulse capabilities enable low-bandwidth multi-level control for online gait emergence and adaptation. Chiheb Boussema, Patrick M. Wensing, Auke J. Ijspeert, Sangbae Kim

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Robot demonstrations

E 1 SquMA Bot Mk II Ben Tidswell, Anthony Scibelli, Cassandra Donatelli Tufts University

E 2 Roombots Mehmet Mutlu Ecole polytechnique fédérale de Lausanne (EPFL)

E 3 Krock 2 sprawling gait quadruped Matthew Estrada Ecole polytechnique fédérale de Lausanne (EPFL)

E 4 Flapping wing test bench system José Luis Zárate Moya TU Ilmenau

E 5 ARBITER Matthieu Dujany, Simon Hauser Ecole polytechnique fédérale de Lausanne (EPFL)

E 6 Decentralized interlimb coordination mechanism for quadruped robots Akira Fukuhara, Wataru Suda, Takeshi Kano, and Akio Ishiguro Tohoku University

M 1 Undulatory swimming robot AgnathaX Laura Paez, Kamilo Melo Ecole polytechnique fédérale de Lausanne (EPFL)

M 2 OroBOT Kamilo Melo Ecole polytechnique fédérale de Lausanne (EPFL)

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M 3 Self-contained fluidic muscles Vito Cacucciolo Ecole polytechnique fédérale de Lausanne (EPFL)

G 1 AUTONOMYO lower limb exoskeleton for human Amalric Ortlieb, Sofiane Gadi, Seiffedine Ben Khelil Ecole polytechnique fédérale de Lausanne (EPFL)

G 2 EPA-hopper Omid Mohseni, Guoping Zhao, Maziar Sharbafi,

Aida Mohammadi Nejad TU Darmstadt

G 3 A salamander robot driven by cross-coupled sensory feedback control between legs and trunk Shura Suzuki Tohoku University

G 4 On brainless-robot approach to emergence of motor patterns Yoichi Masuda, Haruka Masuji, Kaisei Yamagishi,

Yu Yanagibayashi, Satsuki Tanaka, Masato Ishikawa Osaka University

G 5 ALPHA: Dung beetle robot developed through data-driven bio-inspiration Peter Billeschou, Jørgen Christian Larsen, Poramate Manoonpong University of Southern Denmark

G 6 AgileBot Moritz Geilinger, Sebastian Winberg, Stelian Coros ETH Zürich

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VenueThe lectures are taking place in the CO2 auditorium at EPFL, Lausanne, Switzerland. See the map on page 33. The path to follow to get to the auditorium will be indicated from the M1 metro station at EPFL. The poster and robot demo sessions will take place close to the auditorium. Coffee, lunches and the farewell drinks (included in the registration) will also be served close to the auditorium.

TravelWe recommend coming to the conference using public transport, in particular the metro line M1. See the conference website for instructions. Note that free passes for public transport are provided if you stay at a hotel in Lausanne (please ask the hotel desk). Public paying parkings are also available at EPFL.

Banquet and boat tourThe banquet will take place on Thursday August 22nd on a boat that will make a tour on Lake Geneva. The boat will depart at 18:15 sharp from Ouchy (Lausanne, lake side), and return at 21:30. Please arrive in time (count 45 min from EPFL to Ouchy)! Please do not forget to bring your banquet ticket. For those wanting to come with us, we will meet at the registration desk at 17:20.

Poster sessionsPosters are allocated to two sessions, A and B (see poster presentation list from page 20), with dedicated 1-min highlights in the auditorium, followed by a long poster session. Presenters are welcome to discuss their posters at other times, e.g. during lunch and coffee breaks (see the optional poster schedule in the program).

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Robot demonstrations

There is an official robot demonstration session on Thursday August 22nd afternoon. Demonstrations are also welcome at other times (see the optional robot demos schedule in the program). For practical information concerning demonstrations, please contact mehmet.mutlu@epfl.ch.

Internet access

Internet can be accessed using Eduroam or by connecting to the public-epfl network using the following credentials:

Username: x-amam2019 Password: lactra82

Depending on your system, the login prompt will be displayed directly or when you try to open a web page.

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Contact information

If you have any questions during the conference, please call the welcome desk at +41 21 693 30 06 (or 33006 from an internal phone) or send an email to amam2019@groupes.epfl.ch.

For emergencies on the EPFL campus: +41 21 693 30 00 (or 115 from an internal phone, e.g. phones in the corridors).

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Maps of Lausanne & EPFLM1 Renens

M1 EPFL metro stationAMAM conference

Ouchy: boat & banquet

M1, M2 Lausanne-Flon

M2 metro line

M1 metro line

M1 EPFL metro station

Starling Hotel

AMAMCO2 Auditorium

By car from Lausanne

Swisstech Hotel

Esplanade,Public Parking

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Notes

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Notes

Tuesday, August 20th

8:00 Registration8:50 Welcome address9:00 Grégoire Courtine10:00 Coffee, set-up posters A10:20 Charlotte Le Mouel10:50 Shinya Aoi11:20 Nidhi Seetapathi11:50 Francisco Valero-Cuevas12:20 Lunch, optional posters A13:30 Monica Daley14:30 Dagmar Sternad15:00 David Franklin15:30 Coffee15:50 Poster highlights A16:40 Official poster session A19:00 End of day

Wednesday, August 21st

9:00 Lena Ting10:00 Coffee10:20 Megan Leftwich10:50 Tetsuya Iwasaki11:20 Katsu Kagaya11:50 Ulrike Müller12:20 Lunch, optional posters A13:30 Radhika Nagpal14:30 Kotaro Yasui15:00 Emily Standen15:30 Coffee, set-up posters B15:50 Poster highlights B16:40 Official poster session B19:00 End of day

Thursday, August 22nd

9:00 Herman van der Kooij10:00 Coffee10:20 John Hutchinson10:50 Chris Richards11:20 Kamilo Melo11:50 Jamie Paik12:20 Lunch, optional posters B13:30 Max-Erick Busse-Grawitz14:30 Sangbae Kim15:00 Katja Mombaur15:30 Coffee, official robot demos17:20 Transit to Ouchy18:15 Banquet (departure dock 2)21:30 End of day

Friday, August 23rd

9:00 Dario Floreano10:00 Coffee, set-up posters A10:20 Elizabeth Helbling10:50 David Lentink11:20 Simon Sponberg11:50 Beth Mortimer12:20 Lunch, optional posters B14:00 Barbara Webb14:30 Pavan Ramdya15:00 Poramate Manoonpong15:30 Best poster&demo ceremony16:00 Farewell drinks17:00 End of AMAM 2019