Prof. Dr.

C. David Remy

Institut für Nichtlineare Mechanik

Kontakt

+49 711 685-60914

Pfaffenwaldring 9
70569 Stuttgart
Deutschland
Raum: 3.133

Sprechstunde

Mo 15:45 - 16:45 Uhr und nach Vereinbarung.

Journals

Felt, W. and Remy, C.D.: "A closed-form kinematic model for Fiber Reinforced Elastomeric Enclosures", Journal of Mechanisms and Robotics, Vol. 10, No. 1, pp. -, 2018., LINK

Felt, W., Lu, S., Remy, C.D.: "Modeling and design of “Smart Braid” inductance sensors for fiber-reinforced elastomeric enclosures", IEEE Sensors Journal, Vol. In press, No. -, pp. -, 2018., LINK

Gan, Z., Yesilevskiy, Zaytsev, P., and Remy, C.D. : "All Common bipedal gaits emerge from a single passive model", International Journal of Robotics Research, Vol. Under Review, No. NaN, pp. NaN, 2018. PDF

Treadway, E., Gan, Z., Remy, C.D., Gillespie, R.B.: "Toward controllable hydraulic coupling of joints in a wearable robot", IEEE Transactions on Robotics, Vol. In press, No. -, pp. -, 2018., LINK

Gan, Z., Jiao, Z., Remy, .C.D.: "On the Dynamic Similarity between Bipeds and Quadrupeds: a Case Study on Bounding", IEEE Robotics and Automation Letters, Vol. In press, No. NaN, pp. NaN, 2018., LINK

Washabaugh, E., Guo, J., Chang, C.-K., Remy, C.D., Krishnan, C.: "A Portable Passive Rehabilitation Robot for Upper-Extremity Functional Resistance Training", IEEE Transactions on Biomedical Engineering, Vol. In press, No. NaN, pp. NaN, 2018., LINK

Chang, C.-K., Washabaugh, E., Gwozdziowski, A., Remy, C.D., Krishnan, C.: "A Semi-passive Planar Manipulandum for Upper-Extremity Rehabilitation", Annals of Biomedical Engineering, Vol. 46, No. 7, pp. 1047-65, 2018., LINK

Yesilevskiy, Y. Gan, Z., and Remy, C.D.: "Energy-optimal hopping in parallel and series elastic 1D monopeds", ASME J. Mechanisms Robotics, Vol. NaN, No. NaN, pp. NaN, 2018. PDF , LINK

Yesilevskiy, Y., Yang, W., and Remy, C.D.: "Spine morphology and energetics: How principles from nature apply to robotics", Bioinspiration and Biomimetics, Vol. In press, No. -, pp. -, 2018., LINK

Felt, W., Chin, K.Y., and Remy, C.D.: "Smart Braid feedback for the closed-loop control of soft robotic systems", Soft Robotics, Vol. 4, No. 3, pp. 261-273, 2017., LINK

Smit-Anseeuw, N., Gleason, R., Vasudevan, R. and Remy, C. D.: "The energetic benefit of robotic gait selection - A case study on the robot Ramone", IEEE Robotics and Automation Letters, Vol. 2, No. 2, pp. 1124 - 1131, 2017., LINK

Koller, J.R, Gates, D.H., Ferris, D.P., and Remy, C.D.: "Confidence in the curve: Establishing instantaneous cost mapping techniques using bilateral ankle exoskeletons", Journal of Applied Physiology, Vol. 122, No. 2, pp. 242-252, 2016., LINK

Felt, W., Chin, K.Y., and Remy, C.D.: "Contraction sensing with Smart Braid McKibben muscles", IEEE/ASME Transactions on Mechatronics, Vol. 21, No. 3, pp. 1201-2019, 2015., LINK

Felt, W., Selinger, J., Donelan, J.M., and Remy, C.D.: ""Body-In-The-Loop": Optimizing device parameters using measures of instantaneous energetic cost", PLoS ONE, Vol. 10, No. 8, pp. e0135342, 2015., LINK

Gan, Z., Wiestner, T., Weishaupt, M., Waldern, N., and Remy, C.D.: "Passive dynamics explain quadrupedal walking, trotting, and toelting", ASME Journal of Computational and Nonlinear Dynamics, Vol. 11, No. 2, pp. 21008, 2015. PDF , LINK

Koller, J.R., Jacobs, D.A., Ferris, D.P., and Remy, C.D. : "Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton", Journal of NeuroEngineering and Rehabilitation, Vol. 12, No. 1, pp. 97, 2015., LINK

Xi, W., Yesilevskiy, Y., and Remy, C.D.: "Selecting gaits for economical locomotion of legged robots", The International Journal of Robotics Research, Vol. 35, No. 9, pp. 1140-1145, 2015., LINK

Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R. : "Efficient and versatile locomotion with highly compliant legs", IEEE/ASME Transactions on Mechatronics, Vol. 18, No. 2, pp. 449-458, 2013. PDF , LINK

Belo, F.A.W, Birk, A., Brunskill, C., Kirchner, F., Lappas, V., Remy, C.D., Roccella, S., Rossi, C., Tikanmäki, A., and Visentin, G.: "The ESA lunar robotics challenge: Simulating operations at the lunar south pole", Journal of Field Robotics, Vol. 29, No. 4, pp. 601-626, 2012., LINK

Remy, C.D., Buffinton, K.W., and Siegwart, R. : "Energetics of passivity-based running with high-compliance series elastic actuation", International Journal of Mechatronics and Manufacturing Systems, Vol. 5, No. 2, pp. 120-134, 2012. PDF , LINK

Remy, C.D., Hutter, M., Hoepflinger, M., Bloesch, M., Gehring, C., and Siegwart, R. : "Quadrupedal robots with stiff and compliant actuation (Best Postdoctoral Paper Award, NCCR-Robotics, 2012)", at-Automatisierungstechnik, Vol. 60, No. 11, pp. 682-691, 2012. PDF , LINK

Remy, C.D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M.H., Pradalier, C., and Siegwart, R.: "Walking and crawling with ALoF: a robot for autonomous locomotion on four legs", Industrial Robot: An International Journal, Vol. 38, No. 3, pp. 264-268, 2011. PDF , LINK

Chumanov, E.S., Remy, C.D., and Thelen, D.G.: "Computational techniques for using insole pressure sensors to analyse three-dimensional joint kinetics", Computer methods in biomechanics and biomedical engineering, Vol. 13, No. 5, pp. 505-514, 2010. PDF , LINK

Remy, C.D., Buffinton, K.W., and Siegwart, R.: "Stability analysis of passive dynamic walking of quadrupeds", The International Journal of Robotics Research, Vol. 29, No. 9, pp. 1173-1185, 2010. PDF , LINK

Remy, C.D. and Thelen, D.G.: "Optimal estimation of dynamically consistent kinematics and kinetics for forward dynamic simulation of gait", Journal of biomechanical engineering, Vol. 131, No. 3, pp. 31005, 2009. PDF , LINK

Conferences

Felt, W.,Telleria, M.J., Allen, T., Hein, G., Pompa, J., Albert, K., Remy, C.D.: "An inductance-based sensing system for bellows-driven continuum joints in soft robots", Robotics: Science and Systems (RSS), Cambridge, MA, 2017., LINK

Ingraham, K.A., Ferris, D.P., and Remy, C.D.: "Using portable physiological sensors to estimate energy cost for ‘Body-in-the-Loop’ optimization of assistive robotic devices", IEEE Global Conference on Signal and Information Processing (GlobalSIP), Montreal, Canada, 2017. PDF

Ingraham, K.A., Ferris, D.P., and Remy, C.D.: "Predicting energy cost using portable physiological sensors", Dynamic Walking, Åland, Finland, 2017. PDF

Ingraham, K.A., Ferris, D.P., and Remy, C.D.: "Using wearable physiological sensors to predict energy expenditure ", International Conference on Rehabilitation Robotics (ICORR), London, England, 2017. PDF

Koller, J.R., Remy, C.D., and Ferris, D.P. : "Comparing Neural Control and Mechanically Intrinsic Control of Powered Ankle Exoskeletons", International Conference on Rehabilitation Robotics (ICORR), London, England, 2017. PDF

Smit-Anseeuw, N., Gleason, R., Zaytsev, P. and Remy, C. D.: "RAMone: A planar biped for studying the energetics of gait", Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017., LINK

Smit-Anseeuw, N., Vasudevan, R., Remy, C. D.: "Safe online learning using barrier functions", Dynamic Walking, Åland, Finland, 2017., LINK

Yang, W., Yesilevskiy, Y., and Remy, C.D.: "The effect of spine morphology on the motions and energetics of quadrupedal robots", Dynamic Walking, Åland, Finland, 2017. PDF

Yesilevskiy, Y., Yang, W., and Remy, C.D.: "The energetic effect of a flexible spine in quadrupedal robots", Dynamic Walking, Åland, Finland, 2017. PDF

Felt, W., Chin, K.Y., and Remy, C.D.: "Self-sensing pneumatic artificial muscles for feedback control using the inductance of "Smart Braids"", Dynamic Walking, Holly, MI, 2016. PDF

Felt, W., Suen, M., and Remy, C.D.: "Sensing the motion of bellows through changes in mutual inductance", International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016., LINK

Gan, Z., Yesilevskiy, Y., and Remy, C.D.: "A SLIP model with swing dynamics can predict more gaits", Dynamic Walking, Holly, MI, 2016. PDF

Green, K., Smit-Anseeuw, N., Gleason, R., and Remy, C.D. : "Design and control of a recovery system for legged robots", Advanced Intelligent Mechatronics (AIM), Banff, Canada, 2016. PDF

Ingraham, K.A., Ferris, D.P., and Remy, C.D.: "Influence of uncertainty in metabolic dynamic time constant on instantaneous cost mapping techniques", Dynamic Walking, Holly, MI, 2016. PDF

Koller, J.R., Gates, D.H., Ferris, D.P., and Remy, C.D. : "Confidence in the curve: Instantaneous cost mapping with ankle exoskeletons", Dynamic Walking, Holly, MI, 2016. PDF

Koller, J.R., Gates, D.H., Ferris, D.P., and Remy, C.D. : "Body-in-the-Loop' optimization of asssistive robotic devices: A validation study", Robotics: Science and Systems (RSS), Ann Arbor, MI, 2016. PDF , LINK

Smit-Anseeuw, N., Vasudevan, R., and Remy, C.D.: "When knees become ankles", Dynamic Walking, Holly, MI, 2016. PDF

Yesilevskiy, Y., Gan, Z., and Remy, C.D.: "Exploring the role of natural dynamics in robotic walking and running", Dynamic Walking, Holly, MI, 2016. PDF

Yesilevskiy, Y., Gan, Z., and Remy, C.D.: "Optimal configuration of series and parallel elasticity in a 2D monoped", IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016. PDF , LINK

Cnops, T., Gan, Z., and Remy, C.D.: "The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control", International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. PDF

Davidson, A., Gardinier, E.S., Felt, W., Wensman, J., Remy, C.D., and Gates, D.H.: "Changes in metabolic cost with varying power settings of a powered ankle prosthesis", American Society of Biomechanics Annual Meeting (ASB), Columbus, OH, 2015. PDF

Felt, W., Chin, K.Y., and Remy, C.D.: "Dynamic tracking of joint motion with antagonized smart braids", Fluid Power Innovation & Research Conference (FPIRC), 2015. PDF

Felt, W., Gardinier, E.S., Wensman, J., Gates, D.H., and Remy, C.D.: "Body-in-the-Loop optimization for the selection of prosthetic control parameters: A pilot study", American Society of Biomechanics Annual Meeting (ASB), Columbus, OH, 2015. PDF

Gan, Z., Fry, K., Gillespie, B.R., and Remy, C.D.: "A novel variable transmission with digital hydraulics", International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015. PDF

Gardinier, E.S., Felt, W., Wensman, J., Remy, C.D., and Gates, D.H.: "Compensations exist in persons with transtibial ampuatation using powered ankle prosthesis", American Society of Biomechanics Annual Meeting (ASB), Columbus, OH, 2015. PDF

Koller, J.R., Jacobs, D.A., Ferris, D.P., and Remy, C.D.: "Adaptive gain for proportional myoelectric control of a robotic ankle exoskeleton during human walking", American Society of Biomechanics Annual Meeting (ASB), Columbus, OH, 2015. PDF

Koller, J.R., Jacobs, D.A., Ferris, D.P., and Remy, C.D.: "Physiological Effects of a Simple Adaptive Ankle Exoskeleton", Dynamic Walking, Columbus, OH, 2015. PDF

Smit-Anseeuw, N. and Remy, C.D.: "Stabilization of energy optimal series elastic gait", Dynamic Walking, Columbus, OH, 2015. PDF

Yesilevskiy, Y.*, Gan, Z*.Xi, W.*, Remy, C.D. (* the authors contributed equally to this work): "From simple to complex models: Gaits as oscillations", International Symposium on Adaptive Motion of Animals and Machines (AMAM), Cambridge, MA, 2015. PDF

Yesilevskiy, Yevgeniy, Xi, Weitao, and Remy, C.D.: "A comparison of series and parallel elasticity in a monoped hopper", International Conference on Robotics and Automation, (ICRA), Seattle, WA, 2015. PDF , LINK

Cnops,Thomas and Remy, C.D.: "Quantification of viability in simple models", Dynamic Walking, Zurich, Switzerland, 2014. PDF

Felt, W., Selinger, J., Donelan, J.M., and Remy, C.D.: "Body-in-the-Loop: Optimizing actual human walking", Dynamic Walking, Zurich, Switzerland, 2014. PDF

Felt, Wyatt and Remy, C.D.: "Smart Braid: Air muscles that measure force and displacement", International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, 2014. PDF , LINK

Gan, Z. and Remy, C.D.: "A passive dynamic model predicts all gaits of horses", Dynamic Walking, Zurich, Switzerland, 2014. PDF

Gan, Z. and Remy, C.D.: "A passive dynamic quadruped that moves in a large variety of gaits ", International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, 2014. PDF

Koller, J.R. and Remy, C.D.: "A lower extremity soft robotic exoskeleton", Dynamic Walking, Zurich, Switzerland, 2014. PDF

Xi, W. and Remy, C.D.: "Optimal gaits and motions for legged robots", International Conference on Intelligent Robots and Systems (IROS), Chicago, IL, 2014. PDF

Yesilevskiy, Y.and Remy, C.D.: "Series or parallel elasticity - Which is better? ", Dynamic Walking, Zurich, Switzerland, 2014. PDF

Gan, Z. and Remy, C.D.: "A simplistic model For quadrupedal walking and trotting (Poster Presentation)", Dynamic Walking, Pittsburgh, PA, 2013. PDF

Hertig, L., Schnilder, D., Bloesch, M., Remy, C. D., and Siegwart, R.: "Unified state estimation for a ballbot", International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013. PDF , LINK

Bloesch, M., Hutter, M., Hoepflinger, M.H., Remy, C.D. Gehring, C., and Siegwart, R: "State estimation for legged robots-consistent fusion of leg kinematics and imu", Robotics: Science and Systems (RSS), Sydney, Australia, 2012. PDF , LINK

Hoepflinger, M.H., Baschung, D., Remy, C.D., Hutter, M., Siegwart, R., Hoch N., and Werther B.: "ParcelBot: A tracked parcel transporter with high obstacle negotiation capabilities", International Conference on Climbing and Walking Robots (CLAWAR), Baltimore, MD (Highly Commended Paper Award), 2012. PDF

Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M.A., Remy, C.D., Siegwart, R.: "StarlETH: A compliant quadrupedal robot for fast, efficient, and versatile locomotion", International Conference on Climbing and Walking Robots (CLAWAR), Baltimore, MD (Best Student Paper award), 2012. PDF

Hutter, M., Hoepflinger, M.H., Gehring, C., Bloesch, M., Remy, C.D., and Siegwart, R. : "Hybrid operational space control for compliant legged systems", Robotics: Science and Systems (RSS), Sydney, Australia, 2012. PDF , LINK

Hutter, M., Holenstein, C. Fenner, D. Remy, C.D., Hoepflinger, M.H., and Siegwart, R. : "Improved efficiency in legged running using lightweight passive compliant feet", International Conference on Climbing and Walking Robots (CLAWAR), Baltimore, MD , 2012. PDF

Remy, C.D. and Siegwart, R. : "Gaits and energetics in robotic locomotion", Dynamic Walking, Pensacola, FL, 2012. PDF

Remy, C.D., Buffinton, K.W., and Siegwart, R. : "Comparison of cost functions for electrically driven running robots", International Conference on Robotics and Automation (ICRA), St Paul, MN , 2012. PDF , LINK

Hoepflinger, M.H., Remy, C.D., Hutter, M., and Siegwart, R. : "Extrinsic RGB-D camera calibration for legged robots", International Conference on Climbing and Walking Robots (CLAWAR), Paris, France , 2011. PDF

Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R.: "High compliant series elastic actuation for the robotic leg scarleth", International Conference on Climbing and Walking Robots (CLAWAR), Paris, France (Finalist for the Best Technical Paper Award), 2011. PDF

Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R.: "Scarleth: Design and control of a planar running robot", International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA (Finalist for the Best Paper Award), 2011. PDF , LINK

Latta, M., Hutter, M., Remy, C.D., and Siegwart, R.: "Towards walking on mars", Symposium of Advanced Space Technology in Robotics and Automation, (ASTRA), Noordwijk, Netherlands, 2011. PDF

Remy, C.D., Buffinton, K.W., and Siegwart, R.: "A MATLAB framework for efficient gait creation", International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA , 2011. PDF , LINK

Remy, C.D., Hutter, M., Hoepflinger M.H., ‘Team Pegasus’, and Siegwart, R.: "ALoF, StarlETH, Pegasus (Hardware Demonstration)", Dynamic Walking, Jena, Germany , 2011.

Hoepflinger, M.H., Remy, C.D., Hutter, M., and Siegwart, R. : "The quadruped ALoF and a step towards real world haptic terrain classifications", The 12th Mechatronics Forum Biennial International Conference, 2010., LINK

Hoepflinger, M.H., Remy, C.D., Hutter, M., Haag, S., and Siegwart, R. : "Haptic terrain classification on natural terrains for legged robots", International Conference on Climbing and Walking Robots, CLAWAR, Nagoya, Japan, 2010., LINK

Hoepflinger, M.H., Remy, C.D., Hutter, M., Spinello, L., and Siegwart, R.: "Haptic terrain classification for legged robots", International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010. PDF , LINK

Hutter, M., Remy, C.D. Hoepflinger, M.H., and Siegwart, R. : "Full state control of a slip model by touchdown detection", International Conference on Climbing and Walking Robots (CLAWAR), Nagoya, Japan, 2010. PDF

Hutter, M., Remy, C.D., and Siegwart, R.: "Template based running with articulated robotic legs (Poster Presentation)", Dynamic Walking, Boston, MA, 2010.

Hutter, M., Remy, C.D., Hoepflinger, M.H. and Siegwart, R.: "Slip running with an articulated robotic leg", International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010. PDF , LINK

Remy, C.D. and Siegwart, R.: "Energetics of running with high-compliance series elastic actuation (Poster Presentation)", Dynamic Walking, Boston, MA, 2010.

Remy, C.D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M.H., Pradalier, C., and Siegwart, R.: "Walking and crawling with ALoF: A robot for autonomous locomotion on four legs", International Conference on Climbing and Walking Robots (CLAWAR), Nagoya, Japan(Innovation Award 2010, Highly commended), 2010. PDF

Remy, C.D., Buffinton, K.W., and Siegwart, R. : "Energetics of passivity-based running with high-compliance series elastic actuation", The 12th Mechatronics Forum Biennial International Conference, 2010. PDF

Remy, C.D., Hutter, M., and Siegwart, R.: "Passive dynamic walking with quadrupeds -- Extensions towards 3D", International Conference on Robotics and Automation (ICRA), Anchorage, AK, 2010. PDF , LINK

Siegwart, R., Remy, C.D., and Hutter, M.: "Exploitation of natural dynamics in quadrupedal locomotion (Oral Presentation)", Dynamic Walking, Boston, MA, 2010.

Hutter, M., Remy, C.D. and Siegwart, R.: "Open-loop control strategies in passive dynamic hopping", Dynamic Walking, Vancouver, BC, 2009.

Hutter, M., Remy, C.D., and Siegwart, R.: "Design of an articulated robotic leg with nonlinear series elastic actuation", International Conference on Climbing and Walking Robots (CLAWAR), Istanbul, Turkey, 2009. PDF

Hutter, M., Remy, C.D., and Siegwart, R. : "Adaptive control strategies for open-loop dynamic hopping", International Conference on Intelligent Robots and Systems (IROS), St Louis, MO, 2009. PDF , LINK

Remy, C.D. and Siegwart, R.: "Passive dynamic walking with quadrupeds - Extensions towards 3D", Dynamic Walking, Vancouver, BC, 2009.

Remy, C.D., Buffinton, K., Petit, F., and Siegwart, R.: "Passive dynamic walking with quadrupeds (Poster Presentation)", Dynamic Walking, Delft, Netherlands, 2008.

Chumanov, E.S., Remy, C.D., and Thelen, D.G.: "Tracking the position of insole pressure sensors during walking and running", American Society of Biomechanics (ASB), Palo Alto, CA, 2007. PDF , LINK

Chumanov, E.S., Remy, C.D., and Thelen, D.G.: "Ground reaction forces during running can be estimated from insole pressure measurements by considering whole body dynamics", North American Congress on Biomechanics, Ann Arbor, MI, 2007. PDF , LINK

Remy, C.D. and Thelen, D.G.: "Design and evaluation of an adaptive ground contact model", ASME Summer Bioengineering Conference, Keystone, CO, 2007. PDF

Remy, C.D. and Thelen, D.G.: "Optimal estimation of dynamically consistent kinematics and kinetics for forward dynamic simulations", ASME Summer Bioengineering Conference, Keystone, CO, 2007. PDF , LINK

Remy, C.D., Siegwart, R., and Thelen, D.G.: "Optimal estimation of dynamically consistent kinematics and kinetics for forward dynamic simulations (Poster Presentation)", Dynamic Walking, Åland, Finland, 2007. PDF

Workshops

Felt, W. and Remy, C.D.: "Soft actuators with integrated inductance sensing for material robotics", Robotics: Science and Systems (RSS), Material Robotics (MaRo) Workshop, 2017. PDF

Koller, J.R., Ingraham, K.A., and Remy, C.D.: "Automating the evaluation of assistive robotic devices", International Conference of Rehabilitation Robotics (ICORR) Workshop on 'Assessing and Optimizing Human Robot Interaction In Wearable Robotic Devices', 2017., LINK

Smit-Anseeuw, N., Gleason, R., Zaytsev, P., Vasudevan, R., Remy, C.D.: "The Energetic Benefit of Robotic Gait Selection", Intelligient Robots and Systems (IROS) Workshop On the Energetic Economy of Robotics and Biological Systems, Vancouver, BC, Canada, 2017., LINK

Smit-Anseeuw, N., Nash, A., Vasudevan, R., Remy, C. D.: "Safe Online Learning Using Barrier Functions", International Conference on Robotics and Automation (ICRA) Workshop on Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains, Singapore, 2017., LINK

Yesilevskiy, Y. , Yang, W., and Remy, C.D.: "The Energetic Effect of a Flexible Spine in Quadruped Robots", International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 2017. PDF

Yesilevskiy, Y. and Remy, C.D.: "Optimizing Motion and Morphology in Legged Robots", International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 2017. PDF

Felt, W. and Remy, C.D.: "Variable inductance structures for self-sensing soft actuation in wearable robotic devices", IROS Joint Workshop on 'Wearable Robotics and Assistive Devices', 2016.

Remy, C.D.: "Body-in-the-Loop optimization of assistive robotic devices", Robotics: Science and Systems (RSS) Workshop on 'Assistive Robotic Devices for Dynamic Locomotion', 2016., LINK

Felt, W. and Remy, C.D.: "How to create self-sensing air muscles from conductive fibers", Robotics: Science and Systems Conference (RSS), Workshop on 'Advances on Soft Robotics', 2014. PDF

Bloesch, M., Hutter, M., Remy, C.D., and Siegwart, R. : "Consistent fusion of leg kinematics and inertial measurements for state estimation of legged robots", Dynamic Walking, Pensacola, FL, USA, 2012. PDF

Theses

Gan, Z. and Remy, C.D.: "A passive dynamic quadruped that moves in a large variety of gaits", Master Thesis, 2014. PDF

Remy, C.D.: "Optimal exploitation of natural dynamics in legged locomotion", PhD Thesis, 2011. PDF , LINK

Remy, C.D.: "Integration of an adaptive ground construct model into the dynamic simulation of gait", Master Thesis, 2006. PDF , LINK

Patents

Felt, W. and Remy, C.D.: "Sensing method for fiber-driven motion systems", Patent, 2015.

Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J.: "Rückfahrhilfesystem und Verfahren zur Unterstützung des Fahrers eines Zugfahrzeug-Anhänger-Gespanns bei einer Rückwärtsfahrt", Patent, 2007. PDF

Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J.: "Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns", Patent, 2007. PDF

Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J.: "Rückfahrhilfesystem und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns", Patent, 2007. PDF

Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J.: "Vorrichtung und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns", Patent, 2007. PDF

C. David Remy is a Full Professor at the Institute for Nonlinear Mechanics at the University of Stuttgart in Germany and an Associate Professor of Mechanical Engineering at the University of Michigan, Ann Arbor (on leave). He received his Ph.D. in 2011 from ETH Zurich (Prof. Roland Siegwart), and holds a M.Sc. in Mechanical Engineering from the University of Wisconsin, Madison and a Diploma in Engineering Cybernetics from the University of Stuttgart. Prof. Remy is a member of the German National Academic Foundation and a recipient of the NSF CAREER award.

His research interests include the design, simulation, and control of legged robots, exoskeletons, and other nonlinear systems. Drawing inspiration from biology and biomechanics, he is particularly interested in the effects and exploitation of natural dynamic motions, the role of different gaits, and the possibility of force/torque controllable systems; both in conceptual models and in hardware realizations.

Website of the Robotics and Motion Laboratory at the University of Michigan.

http://ram-lab.engin.umich.edu

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