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Archives

Project Meetings
  • Kick-off, Madrid, 14th Nnovember 2006. (DOC)
  • Esbirro Kick-off - Manuel Mateo (PPS)
  • Dissemination & exploitation (PPS)
  • Half-year meeting, Delft, Holland, 2nd-3rd July 2007. (DOC)
  • Half-year meeting, Reykjavik, Island, 19th-20th June 2008. (DOC)
  • 2nd Annual Review Meeting, Delft, Holland, 12th-13th November 2008.
  • Half-year meeting, Madrid, Spain, 5th-6th May 2009. (DOC)
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Telemeetings
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Project Deliverables
  • Deliverables 1:
    • D1.1. Final conceptual design for the biped robot and powered lower leg exoskeleton. (DOC)
    • D1.2. Report with expected hardware capabilities, to be used in detailed simulation models. (DOC)
    • D1.2. UPDATED - Report with expected hardware capabilities, to be used in detailed simulation models. (DOC)
  • Deliverables 2:
    • D2.1. Report on state of the art and control models. (DOC)
    • D2.2. Validation report on the Limit Cycle biped model and report on feasibility of WP5 and WP6 implementation technologies. (DOC)
    • D2.2. UPDATED - Validation report on the Limit Cycle biped model and report on feasibility of WP5 and WP6 implementation technologies. (DOC)
  • Deliverables 3:
    • D3.1. Robotic agents implementing the selected behaviours: weight support on irregular terrains and stumble reaction. This deliverable will consist of a report and a demonstrator. (DOC)
    • D3.1. UPDATED - Robotic agents implementing the selected behaviours: weight support on irregular terrains and stumble reaction. This deliverable will consist of a report and a demonstrator. (DOC)
    • D3.2. Computer simulation results. (DOC)
    • D3.2. UPDATED - Computer simulation results. (DOC)
  • Deliverables 4:
    • D4.1. Classification of hazardous situations and potential recovery actions. (DOC)
    • D4.2. Implementation of design principles in biped, using new inertial sensors, camera systems and actuators if necessary. (DOC)
    • D4.3. Computer simulations od D4.1 using biped robot as a platform. (DOC)
  • Deliverables 5:
    • D5.1. Biped robot prototype. (DOC)
      • D5.1. Appendix A – PC104 cards. (PDF)
      • D5.1. Appendix B – Custom electronic boards. (PDF)
      • D5.1. Appendix C – Low-level software settings. (PDF)
      • D5.1. Appendix D – Mechanical drawings. (PDF)
      • D5.1. Appendix E – Manual: How to work with the robot. (PDF)
      • D5.1. Appendix F – Mechanical parameters. (PDF)
  • Deliverables 6:
    • D6.1. Exoskeleton robot prototype - DRAFT. (DOC)
    • D6.1. UPDATED - Adapted exoskeleton prototype. (PDF)
    • D6.2. Exoskeleton patent report. (DOC)
  • Deliverables 7:
    • D7.1. Exoskeleton patent report. (PDF)
    • D7.2. Exoskeleton patent report. (PDF)
  • Deliverables 8:
    • D8.1. Dissemination and Use Plan (DUP) (DOC)
    • D8.1. UPDATED - Dissemination and Use Plan (DUP) (PDF)
  • Deliverable 9:
    • D9.1. Project Management Plan (M1). (DOC)
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Project Videos

    TV videos:

    Demos:

    • ESBiRRo robot - walking biped in IAI's laboratory.

    Trip videos with Meta:

    • Trip experiment 1: Meta trips with an obstacle and falls. (video(461KB))
    • Trip experiment 2: Meta trips with an obstacle at mid-swing; natural recovery (video(1.02MB))

    Videos with ADAMS:

    • push experiments:
      • applied force F=20N at 3170ms from the start; no recovery action applied (video(2.65KB))
      • applied force F=10N at 2800ms from the start; natural recovery of the biped (video(1.37MB))
    • trip experiments:
      • obstacle placed 0.85m far from the start (early swing); no recovery action applied (video(2.69MB))
      • obstacle placed 1185m far from the start (late swing); natural recovery of the biped (video(2.37MB))
    • irregular terrain experiments:
      • two tiles with the same width (0.1 m) and length (0.2 m) but with different heights of 1cm and 1.4cm; natural recovery of the biped (video(1.84MB))
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Activity/Management Reports

  • Intermediary Activity Reports:
    • Intermediary Activity Report 1 (period: 01.11.2006 to 30.04.2007). (DOC)
    • Intermediary Activity Report 2 (period: 01.11.2007 to 30.04.2008). (DOC)
  • Activity Reports:
    • Activity-Management Report (period: 01.11.2006 to 31.10.2007). (DOC)
    • Activity Report (period: 01.11.2007 to 31.10.2008). (DOC)
    • Activity Report (period: 01.11.2008 to 31.10.2009). (PDF)
  • Managament Reports:
    • Managament Report (period: 01.11.2007 to 31.10.2008). (DOC)
    • Periodic Managament Report (period: 01.11.2008 to 31.10.2009). (PDF)

  • Form C CSIC signed (period: 01.11.2008-31.10.2009). (PDF)
  • Form C Ossur signed (period: 01.11.2008-31.10.2009). (PDF)
  • Form C Technaid signed (period: 01.11.2008-31.10.2009). (PDF)

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Publications
  • D. G. E. Hobbelen, M. Wisse, "Limit Cycle Walking", in book "Humanoid Robots; human-like machines", edited by M. Hackel, 2007, published by Advanced Robotic Systems International, Vienna. Ch.14, p.p.: 277-294, ISBN: 978-3-902613-07-3. (PDF)

  • J.C. Moreno, E. Rocon, J.L. Pons, Y. Demiris, "An hybrid method based on fzzy inference and non-linear oscillators for control of gait", accepted Biosignals 2008, 25-28 Jan. 2008, Madeira. (PDF)

  • Forner-Cordero, A., Moreno, J.C., Cullell, A., Navarro, E., Piedra, I., J.L. Pons, "Evaluation of a lower limb exoskeleton for gait enhancemen", 18th International Conference of the International Society for Posture and Gait Research, Vermont, July 14 - 18, 2007. (PDF)

  • A. Cullell, J. Moreno, J.L. Pons, "Dynamic simulation of the behaviour of an orthosis for knee and ankle functional compensation during gait", 18th International Conference of the International Society for Posture and Gait Research, Vermont, July 14 - 18, 2007. (PDF)

  • J.A. Gallego, A. Forner-Cordero, J.C. Moreno, E.A. Turowska and J.L. Pons, "On Line Stumble Detection of Limit Cycle Walkers", Dynamic Walking Conference, Delft, The Netherlands, May 2008. (PDF)

  • E.A. Turowska, A.Forner-Cordero, J.A. Gallego, J.C. Moreno, and J.L. Pons, "Biomimetic Internal Model for Limit Cycle Walker", Dynamic Walking Conference, Delft, The Netherlands, May 2008. (PDF)

  • E.A. Turowska, A. Forner-Cordero, J.A. Gallego, J.C. Moreno, J.L. Pons. "Bio-Inspired Prediction Control of Bipedal Walking Robots", Motor Control 2008 - From Theories to Clinical Application", Zakopane, Poland, September 19-21. (PDF)

  • A. Forner-Cordero, E. A. Turowska, and J.L. Pons. "Bioinspiration and Biomimetism in Wearable Robots". ICRA 2008, In Proceedings. May 2008, Pasadena California. (PDF)

  • J.G.D Karssen and M. Wisse, "Fall detection in walking robots by multi-way principal component analysis". Robotica Cambridge University Press, May 2008. (PDF)

  • J.G.D Karssen and M. Wisse, "Fall detection of two-legged walking robots using multi-way principal components analysi"s. International Journal of Humanoid Robotics, April 1, 2008. (PDF)

  • J. L. Pons; A. Forner-Cordero; E. Rocon; J. C.Moreno, Mechatronics and bioinspiration in actuator design and control. Applied Bionics and Biomechanics., 5-3, pp.127-133 (PDF)

  • J.C. Moreno, F. Brunetti, E. Rocon, J.L. Pons, Immediate effects of a controllable knee ankle foot orthosis for functional compensation of gait in patients with proximal leg weakness . Medical Biological Engineering & Computing., 46-1, pp. 43- 53, 2008. (PDF)

  • A Forner-Cordero, M. Mateu-Arce, I Forner-Cordero, E Alcantara, J C Moreno and J L Pons, Study of the motion artefacts of skin-mounted inertial sensors under different attachment conditions. PHYSIOLOGICAL MEASUREMENT, 29-, pp. 11, 2008(PDF)

  • Special issue on “Lower and Upper Exoskeletons” in Journal of Applied Bionics and Biomechanics, Co-Editors J.L. Pons & J. Rosen, 2009. (PDF)

  • José L. Pons; Luis J. Barrios; José M. Azorín, Lower and upper limb exoskeletons. (Editorial Special Issue: Lower and Upper Limb Exoskeletons). Applied Bionics and Biomechanics, 6-2, pp. 101 – 102, 2009. (PDF)

  • J.C. Moreno, F. Brunetti, E. Navarro, A. Forner-Cordero, J.L. Pons, Analysis of the Human Interaction in the design of a Wearable Lower-Limb Exoskeleton. Applied Bionics and Biomechanics, 6-2, pp. 245, 2009. (PDF)

  • A. Cullell, J.C. Moreno, E. Rocon, A. Forner-Cordero, J.L. Pons, Biologically based design of an actuator system for a Knee-ankle-foot orthosis. Mechanism and Machine Theory, 44-, pp. 860-872, 2009. (PDF)

  • E.A. Turowska, A.Forner-Cordero, J.C. Moreno, J.A. Gallego, A. Montellano López, and J.L. Pons, Application of the Bio-inspired Internal Model Concept to Control of a Bipedal Robot. Jornadas de Automática XXX, Valladolid, Spain, September 2009. (PDF)

  • A. Montellano López, J.A. Gallego, A. Forner-Cordero, E.A. Turowska, J. C. Moreno, and J. L. Pons, ¿Cómo encontrar la estrategia de recuperación más simple para robots bípedos de Ciclo Limite? Jornadas de Automática XXX, Valladolid, Spain, September 2009.(PDF)

  • A. Forner-Cordero, J.A. Gallego, J.C. Moreno, E.A. Turowska, J.L. Pons Assessment of stability and variability in humans and bipedal robots. International Symposium on Posture and Gait Research, 2009.(PDF)

  • Juan C. Moreno, Fernando Brunetti, Enrique Navarro, Arturo Forner-Cordero. "Analysis of the Human Interaction in the design of a Wearable Lower-Limb Exoskeleton". Applied Bionics and Biomechanics Special Issue on "Lower & Upper Limb Exoskeletons": Under revision. (PDF)

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Other Documents
  • ESBiRRo Project Overview. (PDF)
  • ESBiRRo Project Abstract. (PDF)
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