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                 PRELIMINARY PROGRAM

                  OF THE SYMPOSIUM

        FAST MOTIONS IN BIOMECHANICS AND ROBOTICS


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Wednesday, Sept. 7 2005
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08:30   Opening Adresses by 
	the Rector of the University of Heidelberg, 
	Prof. Dr. Dr. h.c. Hommelhoff, and by
	the Director of IWH, Prof. Dr. Dr. Dr. h.c. Welker

	Introduction to the Symposium by the Organizers

			* * * * * 

09:15 	Toshio Fukuda, Nagoya University: 
	Multi-locomotion Control of Biped Locomotion and Brachiation 
        Robots

10:15			Coffee Break

10:45 	Jonathan Clark, University of Pennsylvania, Philadelphia: 
        A Spring Assisted One Degree of Freedom Climbing Model

11:15 	Jerry Pratt, Institute for Human and Machine Cognition, Pensacola
	Velocity Based Stability Metrics for Fast Bipedal Walking

11:45 	Tobias Luksch, TU Kaiserslautern: 
	Behaviour-basedControl for Dynamic Biped Locomotion


12:15 			Lunch at IWH


13:45 	Frank Allgoewer, University of Stuttgart: 
	System Theoretic properties, efficient computations and 
        applications in nonlinear model predictive control 

14:45 	Moritz Diehl, University of Heidelberg: 
	Real-Time Optimization of Fast Robot Movements

15:15 	Mazen Alamir, University of Grenoble: 
	Re-injecting the structure in NMPC schemes: Application to the 
	constrained stabilization of a snake board

15:45 			Coffee Break

16:15 	Friedrich Pfeiffer, TU Munich: 
	The problem of fast machine walking

17:15 	John Schmitt, Oregon State University: 
	Simple Feedback Control of Running

17:45 	Noah J. Cowan, Johns Hopkins University, Baltimore: 
	Task-Level Control and Enhanced Yaw Dynamics of the Lateral Leg 
	Spring Model of Cockroach Locomotion


20:00 	Dinner at Restaurant



Thursday, Sept. 8, 2005
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09:00 	Wolfgang J. Daunicht, University of Duesseldorf: 
	Development of a Closed Loop Neuroprosthesis for Paraplegics

10:00 	Matthias Schablowski-Trautmann, University of Heidelberg:
        Gait Analysis of Treadmill Walking under Specific Consideration of
        Speed

10:30 			Coffee Break

11:00   Katja Mombaur, University of Heidelberg:
        Stability Optimization and Robustness Analysis of Fast Periodic
        Motions

11:30	Peter Giesl, TU Munich:
        On the Determination of the Basin of Attraction for Stationary and
        Periodic  Movements

12:00 	Heiko Wagner, University of Jena: 
	Selfstability in Biological Systems


12:30 			Lunch at Restaurant


14:00 	Hans-Georg Bock, University of Heidelberg: 
	Efficient Numerical Methods for Optimal Control in Robotics

15:00 	Martijn Wisse, TU Delft: 
	How to Measure the Robustness of Two-legged Dynamic Walkers

15:30   Richard Longman, Columbia University:
	Use of Repetitive Control to make Robots Perform High Speed
 	Repetitive Motions

16:00 			Coffee Break


16:45 	Guided Walking Tour to Heidelberg Castle and the Old Town
	(2 hours)



20:00 	Conference Dinner  - Haus Buhl



Friday, Sept. 9, 2005
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09:00	Manfred Morari, ETH Zurich: 
	Controlling Hybrid Systems - from Theory to Applications

10:00 	Christine Chevallerau, Ecole Centrale de Nantes: 
	Stability Analysis of Biped Walk by Controlling or Monitoring of 
        ZMP

10:30 	Andre Seyfarth, University of Jena: 
	Running and Walking with Compliant Legs

11:00 			Coffee Break

11:30 	James Bobrow, University of California, Irvine: 
	Progress on the Algorithmic Optimization of Robot Motion

12:30 	Pierre-Brice Wieber, INRIA Rhone-Alpes: 
	Some Comments on the Structure of the Dynamics of Articulated
	Motion


13:00 			Lunch at IWH


14:15 	Katsuhisa Furuta, Tokyo Denki University: 
	Human Adaptive Mechatronics-Control System Assisting Human
        Operation

15:15 	Yannick Aoustin, Ecole Centrale de Nantes: 
	Optimization process to design walking cyclic gaits with single 
	and double support for an under-actuated biped

15:45 	Eric Westervelt, Ohio State University: 
	Achieving Bipedal Running with RABBIT: Six Steps toward Infinity

16:15 			Coffee Break

16:30 	Final Discussion (chaired by Karsten Berns, TU Kaiserslautern) and 
	Closing 


ca 17:00 		End of the Symposium


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                 Ruperto Carola Symposium at IWH
    supported by the Klaus-Georg und Sigrid Hengstberger Foundation

            "FAST MOTIONS IN BIOMECHANICS AND ROBOTICS -
                 OPTIMIZATION AND FEEDBACK CONTROL"

                      September 7 - 9, 2005

                  http://fast-motions.uni-hd.de
                  ******************************

Dr. Moritz Diehl
Dr. Katja Mombaur
fast-motions@iwr.uni-heidelberg.de

Interdisciplinary Center for Scientific Computing (IWR)
Universitaet Heidelberg
Im Neuenheimer Feld 368
69120 Heidelberg
Germany

ph. +49-6221-548831/548245
fax +49-6221-545444

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