On the Hardware Feasibility of Nonlinear Trajectory Optimization for Legged Locomotion based on a Simplified Dynamics

Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamics-based trajectory optimizer in order to obtain robust motions in challenging terrain. The first one finds an approximate relationship between joint-torque limits and admissible contact forces, without requiring the joint positions. The second one proposes a leg model to prevent leg collision with the environment. Such constraints have been included in a simplified nonlinear non-convex trajectory optimization problem. We demonstrate the feasibility of the resulting motion plans both in simulation and on the Hydraulically actuated Quadruped (HyQ) robot, considering experiments on an irregular terrain

Trajectory and Foothold Optimization using Low-Dimensional Models for Rough Terrain Locomotion

We present a trajectory optimization framework for legged locomotion on rough terrain. We jointly optimize the center of mass motion and the foothold locations, while considering terrain conditions. We use a terrain costmap to quantify the desirability of a foothold location. We increase the gait's adaptability to the terrain by optimizing the step phase duration and modulating the trunk attitude, resulting in motions with guaranteed stability. We show that the combination of parametric models, stochastic-based exploration and receding horizon planning allows us to handle the many local minima associated with different terrain conditions and walking patterns. This combination delivers robust motion plans without the need for warm-starting. Moreover, we use soft-constraints to allow for increased flexibility when searching in the cost landscape of our problem. We showcase the performance of our trajectory optimization framework on multiple terrain conditions and validate our method in realistic simulation scenarios and experimental trials on a hydraulic, torque controlled quadruped robot.LIDIA

Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs

Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain awareness. However, robust dynamic locomotion on difficult terrains with real-time performance guarantees remains a challenge. We present here a real-time, dynamic foothold adaptation strategy based on visual feedback. Our method adjusts the landing position of the feet in a fully reactive manner, using only on-board computers and sensors. The correction is computed and executed continuously along the swing phase trajectory of each leg. To efficiently adapt the landing position, we implement a self-supervised foothold classifier based on a convolutional neural network. Our method results in an up to 200 times faster computation with respect to the full-blown heuristics. Our goal is to react to visual stimuli from the environment, bridging the gap between blind reactive locomotion and purely vision-based planning strategies. We assess the performance of our method on the dynamic quadruped robot HyQ, executing static and dynamic gaits (at speeds up to 0.5 m/s) in both simulated and real scenarios; the benefit of safe foothold adaptation is clearly demonstrated by the overall robot behavior

Modeling the epidemiological impact of the UNAIDS 2025 targets to end AIDS as a public health threat by 2030

Background: UNAIDS has established new program targets for 2025 to achieve the goal of eliminating AIDS as a public health threat by 2030. This study reports on efforts to use mathematical models to estimate the impact of achieving those targets. // Methods and findings: We simulated the impact of achieving the targets at country level using the Goals model, a mathematical simulation model of HIV epidemic dynamics that includes the impact of prevention and treatment interventions. For 77 high-burden countries, we fit the model to surveillance and survey data for 1970 to 2020 and then projected the impact of achieving the targets for the period 2019 to 2030. Results from these 77 countries were extrapolated to produce estimates for 96 others. Goals model results were checked by comparing against projections done with the Optima HIV model and the AIDS Epidemic Model (AEM) for selected countries. We included estimates of the impact of societal enablers (access to justice and law reform, stigma and discrimination elimination, and gender equality) and the impact of Coronavirus Disease 2019 (COVID-19). Results show that achieving the 2025 targets would reduce new annual infections by 83% (71% to 86% across regions) and AIDS-related deaths by 78% (67% to 81% across regions) by 2025 compared to 2010. Lack of progress on societal enablers could endanger these achievements and result in as many as 2.6 million (44%) cumulative additional new HIV infections and 440,000 (54%) more AIDS-related deaths between 2020 and 2030 compared to full achievement of all targets. COVID-19–related disruptions could increase new HIV infections and AIDS-related deaths by 10% in the next 2 years, but targets could still be achieved by 2025. Study limitations include the reliance on self-reports for most data on behaviors, the use of intervention effect sizes from published studies that may overstate intervention impacts outside of controlled study settings, and the use of proxy countries to estimate the impact in countries with fewer than 4,000 annual HIV infections. // Conclusions: The new targets for 2025 build on the progress made since 2010 and represent ambitious short-term goals. Achieving these targets would bring us close to the goals of reducing new HIV infections and AIDS-related deaths by 90% between 2010 and 2030. By 2025, global new infections and AIDS deaths would drop to 4.4 and 3.9 per 100,000 population, and the number of people living with HIV (PLHIV) would be declining. There would be 32 million people on treatment, and they would need continuing support for their lifetime. Incidence for the total global population would be below 0.15% everywhere. The number of PLHIV would start declining by 2023

Legged Robots

International audienc

Perspectives on the use of modelling and economic analysis to guide HIV programmes in sub-Saharan Africa

HIV modelling and economic analyses have had a prominent role in guiding programmatic responses to HIV in sub-Saharan Africa. However, there has been little reflection on how the HIV modelling field might develop in future. HIV modelling should more routinely align with national government and ministry of health priorities, recognising their legitimate mandates and stewardship responsibilities, for HIV and other wider health programmes. Importance should also be placed on ensuring collaboration between modellers, and that joint approaches to addressing modelling questions, becomes the norm rather than the exception. Such an environment can accelerate translation of modelling analyses into policy formulation because areas where models agree can be prioritised for action, whereas areas over which uncertainty prevails can be slated for additional study, data collection, and analysis. HIV modelling should increasingly be integrated with the modelling of health needs beyond HIV, particularly in allocative efficiency analyses, where focusing on one disease over another might lead to worse health overall. Such integration might also enhance partnership with national governments whose mandates extend beyond HIV. Finally, we see a need for there to be substantial and equitable investment in capacity strengthening within African countries, so that African researchers will increasingly be leading modelling exercises. Building a critical mass of expertise, strengthened through external collaboration and knowledge exchange, should be the ultimate goal

Oral abstracts of the 21st International AIDS Conference 18-22 July 2016, Durban, South Africa

The rate at which HIV-1 infected individuals progress to AIDS is highly variable and impacted by T cell immunity. CD8 T cell inhibitory molecules are up-regulated in HIV-1 infection and associate with immune dysfunction. We evaluated participants (n=122) recruited to the SPARTAC randomised clinical trial to determine whether CD8 T cell exhaustion markers PD-1, Lag-3 and Tim-3 were associated with immune activation and disease progression.Expression of PD-1, Tim-3, Lag-3 and CD38 on CD8 T cells from the closest pre-therapy time-point to seroconversion was measured by flow cytometry, and correlated with surrogate markers of HIV-1 disease (HIV-1 plasma viral load (pVL) and CD4 T cell count) and the trial endpoint (time to CD4 count <350 cells/μl or initiation of antiretroviral therapy). To explore the functional significance of these markers, co-expression of Eomes, T-bet and CD39 was assessed.Expression of PD-1 on CD8 and CD38 CD8 T cells correlated with pVL and CD4 count at baseline, and predicted time to the trial endpoint. Lag-3 expression was associated with pVL but not CD4 count. For all exhaustion markers, expression of CD38 on CD8 T cells increased the strength of associations. In Cox models, progression to the trial endpoint was most marked for PD-1/CD38 co-expressing cells, with evidence for a stronger effect within 12 weeks from confirmed diagnosis of PHI. The effect of PD-1 and Lag-3 expression on CD8 T cells retained statistical significance in Cox proportional hazards models including antiretroviral therapy and CD4 count, but not pVL as co-variants.Expression of ‘exhaustion’ or ‘immune checkpoint’ markers in early HIV-1 infection is associated with clinical progression and is impacted by immune activation and the duration of infection. New markers to identify exhausted T cells and novel interventions to reverse exhaustion may inform the development of novel immunotherapeutic approaches

Legged Robots

International audienc