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Publications


Refereed Journal Papers

A Wu, H Geyer. The 3D Spring-Mass Model Reveals a Time-based Deadbeat Control for Highly Robust Running and Steering in Uncertain Environments. IEEE Transactions on Robotics 29(5): 1114-1124, 2013. [PDF]

M Ernst, H Geyer, R Blickhan.  Extension and customization of self-stability control in compliant legged systems. Bioinspiration and Biomimetics, http://dx.doi.org/10.1088/1748-3182/7/4/046002, 2012. [PDF]

H Geyer, HM Herr.  A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities.  IEEE Trans Neural Syst Rehabil Eng 18(3): 263-273, 2010. [PDF]

MF Eilenberg, H Geyer, HM Herr.  Control of a powered ankle-foot prosthesis based on a neuromuscular model.  IEEE Trans Neural Syst Rehabil Eng  18(2): 164-173, 2010. [PDF]

R Blickhan, A Seyfarth, H Geyer, S Grimmer, H Wagner.  Intelligence by mechanics.  Phil Trans R Soc A 365: 199–220,  2007.

H Geyer, A Seyfarth, R Blickhan.  Compliant leg behaviour explains basic dynamics of walking and running.  Proc R Soc B 273: 2861–2867,  2006. [PDF]

H Knuesel, H Geyer, A Seyfarth.  Influence of swing leg movement on running stability.  Hum Mov Sci 24: 532–543,  2005.

H Geyer, A Seyfarth, R Blickhan.  Spring-mass running: simple approximate solution and application to gait stability.  J Theor Biol 232: 315–328,  2005. [PDF]

H Geyer, A Seyfarth, R Blickhan. Positive force feedback in bouncing gaits? Proc R Soc B 270: 2173–2183,  2003. [PDF]

A Seyfarth, H Geyer, HM Herr.  Swing-leg retraction: a simple control model for stable running.  J Exp Biol 205: 2547–2555,  2003. [PDF]

A Seyfarth, H Geyer, M Guenther, R Blickhan.  A movement criterion for running.  J of Biomech 35: 649–655, 2002. [PDF]

Refereed Conference Papers

S Song, H Geyer. Generalization of a Muscle-Reflex Control Model to 3D Walking. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, pp. 7463-7466, 2013. [PDF]

S Song, R Desai, H Geyer. Integration of an adaptive swing control into a neuromuscular human walking model. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, pp. 4915-4918, 2013. [PDF]

S Song, C LaMontagna, SH Collins, H Geyer. The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, pp. 3179-3182, 2013. [PDF]

R Desai, H Geyer. Muscle-Reflex Control of Robust Swing Leg Placement. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, pp. 2169-2174, 2013. [PDF]

R Desai, H Geyer. Robust swing leg placement under large disturbances. IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, pp. 265-270, 2012. [PDF]

A Schepelmann, MD Taylor, H Geyer.  Development of a testbed for robotic neuromuscular controllers. Proc of Robotics: Science and Systems VIII, Sydney, Australia, pp. 385-392, 2012. [PDF]

DB Haeufle, MD Taylor, S Schmitt, H Geyer.  A clutched parallel elastic actuator concept: towards energy efficient powered legs in prosthetics and robotics.  Proc IEEE International Conference on Biomedical Robotics and Biomechatronics, Roma, Italy,  2012.

S Song, H Geyer.  Regulating speed and generating large speed transitions in a neuromuscular human walking model.  IEEE International Conference on Robotics and Automation, pp. 511-516,  2012. [PDF]

S Song, H Geyer.  The energetic cost of adaptive feet in walking.  Proc IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand, pp. 1597-1602,  2011. [PDF]

F Parietti, H Geyer. Reactive balance control in walking based on a bipedal linear inverted pendulum model. Proc IEEE International Conference on Robotics and Automation, Shanghai, China, pp. 5442-5447, 2011. [PDF]

M Ernst, H Geyer, R Blickhan. Spring-legged locomotion on uneven ground: a control approach to keep the running speed constant.  Proc 12th Int Conf on Climbing and Walking Robots (CLAWAR), eds O Tosun, HL Akin, MO Tokhi, GS Virk), ISBN 981-4291-26-9, pp. 639-644,  2009. [PDF]

A Seyfarth, KT Kalveram, H Geyer.  Simulating muscle-reflex dynamics in a simple hopping robot.  Autonome Mobile Systeme 2007, eds. K Berns and T Luksch, Springer: 294-300,  2007.

A Seyfarth, H Geyer, R Blickhan, S Lipfert, J Rummel, Y Minekawa, F Iida.  Running and walking with compliant legs.  In Fast Motions in Biomechanics and Robotics: Optimization and Feedback.  Lecture Notes in Control and Information Science, eds M Diehl, K Mombauer, 383–402, Springer, Heidelberg,  2006.

E Dittrich, H Geyer, A Karguth, A Seyfarth.  Obstacle avoidance in a simple hopping robot.  Proc 9th Int Conf on Climbing and Walking Robots (CLAWAR), Brussels, Belgium,  2006. [PDF]

H Geyer, A Seyfarth, R Blickhan.  Should humanoids really walk on rigid legs?  Proc 3rd Int Symposium on Adaptive Motion in Animals and Machines (AMAM), Ilmenau, Germany, ISBN: 3938843039,  p11, 2005.

H Geyer, A Seyfarth, R Blickhan.  Natural dynamics of spring-like running: emergence of self-stability.  In 5th Int Conf on Climbing and Walking Robots (CLAWAR), eds. P Bidaud and FB Amar, Professional Engineering Publishing Ltd., London. pp. 87–91,  2002. [PDF]

A Seyfarth, H Geyer.  Natural control of spring-like running: optimized self-stabilization.  In 5th Int Conf on Climbing and Walking Robots (CLAWAR), eds. P Bidaud and FB Amar, Professional Engineering Publishing Ltd., London. pp. 81–85,  2002. [PDF]

Patents


R Desai, H Geyer, Muscle-Reflex Controller of Robust Swing Leg Placement. US Patent pending, 2013.

R Desai, H Geyer, Robust swing leg controller under large disturbances. US Patent pending, 2013.

HM Herr, H Geyer, MF Eilenberg.  Model-Based Neuromechanical Controller for a Robotic Leg.  US Patent pending (Application #12/698,128) 2010.

HM Herr, A Seyfarth, H Geyer.  Speed-adaptive control scheme for legged running robots. US Patent 7295892,  2003.


© H. Geyer, 15 Oct 2012