Locomotion and Balance Principles:

ALL/Balancing-Loose-Rope.wmv
Dynamic balance example - "loose" rope walking.(unknown place/date)
[click on image to see movie]
ALL/3D-Tight-Rope-Walking-Coronal-plane-view.wmv
Biologically-inspired tight rope walking; real-time simulation. (MIT, 2005)
[click on image to see movie]
ALL/Human-Walking-3D-Coronal-Plane-View1.wmv
3D walking, 16 segment full dynamics model, Coronal plane view.(MIT, 2002)
[click on image to see movie]
ALL/Human-Walking-3D-Sagittal-Plane-View.wmv
3D walking, 16 segment full dynamics model, Sagittal plane view. (MIT, 2002)
[click on image to see movie]

ALL/Hula-Hoop.wmv
3D Hula-hoop movements, 16 segment full dynamics model, 3 planes. (MIT, 2003)
[click on image to see movie]
ALL/Amateur-Karate-Punches.wmv
A few amateur karate punches in 3D VICON body representation.(MIT, 2006)
[click on image to see movie]
ALL/Dynamic-Balance-1.wmv
Dynamic Balance Zero Moment and Moment strategy.(MIT, 2004)
[click on image to see movie]
ALL/Proof-ZMP.wmv
Exp proof on ZMP & balance Correcting ~3,000 top publications in robotics literature. (MIT, 2006)
[click on image to see movie]

Abstract:

Body movements require rapid control of number of mechanical degrees of freedom (via biological muscles or artificial actuators) for an immense variety of intended tasks and complex world (ambience/terrain) conditions -- extremely hard, computationally intense problem for a simple brute-force search / path optimization of control Lagrangian. Prof. Popovic is researching human biomechanics and neural circuitry to find the underlying "principles/laws" and apply them for design/control of assistive/augmentative technologies and advancement of health sciences.

ALL/ActiveAnkleUpstairs.wmv
Samuel Au and Hugh Herr are testing one of the first prototypes (MIT 2006).
[click on image to see movie]
ALL/slow_motion_ankle_movement.wmv
Ground contact in slow motion; sometimes even milliseconds are important. (MIT, 2006)
[click on image to see movie]
ALL/PracticeDescent01.wmv
EMG based control Amputee controls prosthesis by thinking of moving phantom limb.(MIT, 2006)
[click on image to see movie]
ALL/Jeff-EMG.mpg
EMG control on distance Remote robotic foot detects Jeff Weber's movement intentions.(MIT, 2006)
[click on image to see movie]

"Bionic Leg" (Past Project)
Actively powered prosthetic ankle and foot -- the best invention of the year in the Health Science and Technology according to TIME magazine and CNN (2007). Time Magazine announcement Dr Popovic contribution was in biomechanics, control and early stage device design. Team that worked on this project includes: Hugh Herr (project manager), Samuel Au, Jeff Weber, Chris Barnhart, Max Bernike, Bruce Deffenbaugh etc. (click on images to download movies)

More LOCOMOTION AND BALANCE PRINCIPLES projects available HERE and HERE

Publications and Presentations:

About 15 publications (conference proceedings and journal papers) available through Google Scholar


Current Researchers:

Marko B. Popovic


Past Researchers: