Workshop 3: Teaching human robots how to move: lessons from biological motor control

Organizers: Arturo Forner-Cordero, Jacques Duysens and Elliott Rouse

Timeslot: 13:30 – 16:30
Room: Carré 2H


In this workshop we will review the state of the art of motor control and its application in Robotics. We will address first the generation of biped gaits that, in robots, is largely inspired by ideas from biology. In this Workshop we will review the evolution of these ideas in order to update this knowledge and provide a perspective of the future lines of research in this area. Moreover, we will

complement these results with the analysis of gait perturbations and its implications to discover new biological motor control principles. Afterwards, the biological motor control concepts will be translated to robot control mechanisms. It is important to note that Biology can inspire engineering design at several levels, related to the different levels of insight about the biological mechanisms, building on the distinction between biomimetism and bioinspiration.

Speakers and Agenda:

Biological motor control in biped gait and gait perturbations

  • Arturo Forner-Cordero:
    Humans and biped robots: shared problems but not shared solutions.
  • Jacques Duysens:
    New concepts to control of perturbed and unperturbed gait in robots
  • Sjoerd Bruin:
    Phase dependent control of human gait stability

Application of biological motor control to robotic systems

  • Elliott J. Rouse:
    The implications of leg mechanical impedance in human motor control and the development of biomimetic wearable robots.
  • Glauco Caurin:
    Emergent behaviour for complex tasks in the presence of contacts using MuJoCo: Application to gait modeling.
  • Arvid Keemink:
    Adapting a neuromuscular-model-based controller for the control of exoskeletons and wearable devices to improve dynamic balance during gait.

Website: coming soon.