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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. Submitted to IEEE Trans Robotics.

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,  20Song02. [PDF]

Refereed Conference Papers

R Desai, H Geyer. Muscle-Reflex Control of Robust Swing Leg Placement. IEEE International Conference on Robotics and Automation, submitted.

R Desai, H Geyer. Robust swing leg placement under large disturbances. IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, accepted.

A Schepelmann, MD Taylor, H Geyer.  Development of a testbed for robotic neuromuscular controllers.  Proc of Robotics: Science and Systems, Sydney, Australia,  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

HM Herr, H Geyer, MF Eilenberg.  Model-Based Neuromechanical Controller for a Robotic Leg.  US Patent Application 20100324699.

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