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Research
Biomechatronics

Enhancing human physical capability

#robotics #design #human-computer interaction +65 more
Accepting Applicants
Publication Research

Human walking model predicts joint mechanics electromyography and mechanical economy

K. Endo and H. Herr. Human walking model predicts joint mechanics, electromyography and mechanical economy, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, Oct. 2009.

Proceedings, Oct. 2009
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities

H. Geyer and H. Herr. A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities, IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2010.

Academic Paper, June 2010
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

A model of muscle-tendon function in human walking

K. Endo and H. Herr. A model of muscle-tendon function in human walking, IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 2009.

Proceedings, May 2009
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

A quasi-passive model of human leg function in level-ground walking

K. Endo, D. Paluska, and H.M. Herr. A quasi-passive model of human leg function in level-ground walking, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, Oct. 2006.

Proceedings, Oct. 2006
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Ground reference points in legged locomotion: Definitions biological trajectories and control implications

M. Popovic, A. Goswami, and H. M. Herr. Ground reference points in legged locomotion: Definitions, biological trajectories and control implications, International Journal of Robotics Research, vol. 24, no. 10, pp. 1013-1032, 2005.

Academic Paper, Nov. 2005
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Global motion control and support base planning

M. Popovic and H.M. Herr. Global motion control and support base planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada, Aug. 2005.

Proceedings, Aug. 2005
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Zero spin angular momentum control: Definition and applicability

M. Popovic, A. Hofmann, and H. Herr. Zero spin angular momentum control: Definition and applicability, 4th IEEE/RAS International Conference on Humanoid Robots, vol. 1, pp. 478–493, 2004.

Proceedings, Nov. 2004
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs

A. Hofmann, S. Massaquoi, M. Popovic, and H. Herr. A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1952–1959, 2004.

Proceedings, Oct. 2004
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Angular momentum primitives for human walking: Biomechanics and control

M. Popovic and A. Englehart. Angular momentum primitives for human walking: Biomechanics and control, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1685–1691, 2004.

Proceedings, Oct. 2004
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Angular momentum regulation during human walking: Biomechanics and control

M. Popovic, A. Hofmann, and H. Herr. Angular momentum regulation during human walking: Biomechanics and control, IEEE International Conference on Robotics and Automation, vol. 3, pp. 2405–2411, 2004.

Proceedings, April 2004
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Swing-leg retraction: a simple control model for stable running

A. Seyfarth, H. Geyer, and H. M. Herr. Swing-leg retraction: a simple control model for stable running, The Journal of Experimental Biology, vol. 206, pp. 2547-2555, 2003.

Academic Paper, Feb. 2003
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

A model of scale effects in mammalian quadrupedal running

H. M. Herr, G. T. Huang, and T. A. McMahon. A model of scale effects in mammalian quadrupedal running, Journal of Experimental Biology, vol. 205, no. 7, pp. 959-967, 2002.

Academic Paper, Jan. 2002
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Energetics and mechanics of human running on surfaces of different stiffnesses

A. E. Kerdok, A. A. Biewener, T. A. McMahon, P. G. Weyand, and H. M. Herr. Energetics and mechanics of human running on surfaces of different stiffnesses, Journal of Applied Physiology, vol. 92, no. 2, pp. 469-478, 2002.

Academic Paper, Sept. 2001
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

A trotting horse model

H. M. Herr and T. A. McMahon. A trotting horse model, The International Journal of Robotics Research, vol. 19, no. 6, pp. 566–581, Jun. 2000.

Academic Paper, June 2000
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Biological Principles of Control Selection for a Humanoid Robot's Dynamic Balance Preservation.

M. Vukobratovic, H. Herr, B. Borovac, M. Popovic, A Hofmann, M Jovanovic, and V. Potkonjak. Biological Principles of Control Selection for a Humanoid Robot’s Dynamic Balance Preservation. International Journal of Humanoid Robotics, vol. 5, no. 4, pp 639-678, 2008.

Academic Paper, March 2008
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Autonomous exoskeleton reduces metabolic cost of walking

L. M. Mooney, E. J. Rouse and H. M. Herr. Autonomous exoskeleton reduces metabolic cost of walking, International Conference of the IEEE Engineering in Medicine and Biology Society, August. 2014.

Proceedings, May 2014
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Exploiting angular momentum to enhance bipedal center-of-mass control

A. Hofmann, M. Popovic, and H. M. Herr. Exploiting angular momentum to enhance bipedal center-of-mass control, IEEE International Conference on Robotics and Automation (ICRA ’09), pp. 4423-4429, 2009.

Proceedings, May 2009
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Humanoid standing control: learning from human demonstration

A. Hofmann, M. Popovic, and H. Herr. Humanoid standing control: learning from human demonstration, Journal of Automatic Control, vol. 12, no. 1, pp. 16–22, 2002.

Academic Paper, April 2002
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

From swimming to walking: Examples of how biology is helping us design better machines

H. Herr, G. Pratt, R. Dennis, N. Rosenthal, and R. Marsh. From swimming to walking: Examples of how biology is helping us design better machines, Second International Congress on Motion Systems, Jena, Germany, Jul. 2001.

Proceedings, July 2001
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Virtual model based adaptive dynamic control of a biped walking robot

J. J. Hu, J. E. Pratt, C.-M. Chew, H. M. Herr, and G. A. Pratt. Virtual model based adaptive dynamic control of a biped walking robot, International Journal on Artificial Intelligence Tools, vol. 8, no. 3, pp. 337–348, Sep. 1999.

Academic Paper, Aug. 1999
in Biomechatronics
#robotics #health #human-machine interaction +2 more
Publication Research

Angular momentum in human walking

H.M. Herr and M. Popovic. Angular momentum in human walking, Journal of Experimental Biology, vol. 211, no. 4, pp. 467-481, 2008.

Academic Paper, Dec. 2007
in Biomechatronics
#robotics #health #human-machine interaction +2 more

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