Home/Hartmut Geyer

Hartmut Geyer

Associate Professor
Email: hgeyer@andrew.cmu.edu
Office: NSH 4517
Phone: (412) 268-1724
Personal Homepage: http://www.cs.cmu.edu/~hgeyer/
Administrative Assistant: Keyla C. Cook

I am interested in advancing the science and technology of legged dynamic systems and in improving through this work the quality of life for people who depend on robotics technology to assist, replace or restore their physical capabilities. We pursue this goal in my group along three interconnected directions:

(1) We work on a unified theory of legged dynamic systems with a focus on speed, robustness and agility; and implement, demonstrate and evaluate this theory on bipedal robots of human scale.

(2) We use the knowledge gained in the previous direction to develop physiologically plausible computer models of the human neuromuscular system; propose and explore new theories about how humans control and learn locomotion; and evaluate model predictions against human behavior in experiments.

(3) We design and build new prototypes of powered prosthetic legs capable of high performance locomotion; transfer strategies that mimic human neuromuscular control to achieve human-like gait stability and dexterity; and evaluate the benefits of resulting prosthesis controllers in experiments with amputee users.

Displaying 54 Publications
Objective assessment of spasticity with a method based on a human upper limb model
W S Ang, Hartmut Geyer and I Cheng

Journal Article, IEEE Transactions on Neural Systems and Rehabilitation Engineering (Accepted), January, 2018
Neuromuscular models for locomotion
A Prochazka, S Gosgnach, C Capaday and Hartmut Geyer.

Book Section/Chapter, In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (Chapter 6, in press), December, 2017
Dynamic walking on randomly-varying discrete terrain with one-step preview
Quan Nguyen, Ayush Agrawal, Xingye Da, William Martin, Hartmut Geyer, Jessy Grizzle and Koushil Sreenath

Conference Paper, Robotics: Science and Systems XIII, July, 2017
Evaluation of a neuromechanical walking control model using disturbance experiments
Seungmoon Song and Hartmut Geyer

Journal Article, Frontiers in Computational Neuroscience, Vol. 11, March, 2017
Gait based on the spring mass model
Hartmut Geyer and U Saranli

Book Section/Chapter, In Humanoid Robotics: A Reference (Accepted), February, 2017
Neuromuscular Model Control for Humanoid Walking
Hartmut Geyer and Andre Seyfarth

Book Section/Chapter, In Humanoid Robotics: A Reference (Accepted), February, 2017
A sample-efficient black-box optimizer to train policies for human-in-the- loop systems with user preferences
Nitish Thatte, Helei Duan and Hartmut Geyer

Journal Article, Robotics and Automation Letters, Vol. 2, No. 2, pp. 993-1000, January, 2017
Experimental evaluation of deadbeat running on the ATRIAS biped
William Martin, Albert Wu and Hartmut Geyer

Journal Article, Robotics and Automation Letters, Vol. 2, No. 2, pp. 1085-1092, January, 2017
Toward Balance Recovery with Active Leg Prostheses Using Neuromuscular Model Control
Hartmut Geyer, Nitish Thatte and Helei Duan

Conference Paper, in Converging Clinical and Engineering Research on Neurorehabilitation II. Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), pp. 649 - 652, October, 2016
Walking and running with passive compliance
Christian Hubicki, Andy Abate, Patrick Clary, Siavash Rezazadeh, Mikhail Jones, Andrew Peekema, Johnathan Van Why, Ryan Domres, Albert Wu, William Martin, Hartmut Geyer and Jonathan Hurst

Journal Article, IEEE Robotics and Automation Magazine, September, 2016
Regulating Speed in a Neuromuscular Human Running Model
Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, pp. 217-223, November, 2015
Control and evaluation of series elastic actuators with nonlinear rubber springs
Jessica Austin, Alexander Schepelmann and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 6563 - 6568, September, 2015
Evaluation of decentralized reactive swing-leg control on a powered robotic leg
Alexander Schepelmann, Jessica Austin and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 381 - 386, September, 2015
Toward a virtual neuromuscular control for robust walking in bipedal robots
Zachary Batts, Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 6318 - 6323, September, 2015
Toward balance recovery with leg prostheses using neuromuscular model control
Nitish Thatte and Hartmut Geyer

Journal Article, IEEE Transactions on Biomedical Engineering, Vol. 63, No. 5, pp. 904-913, August, 2015
Robust Spring Mass Model Running for a Physical Bipedal Robot
William Martin, Albert Wu and Hartmut Geyer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 6307 - 6312, June, 2015
Touch-down angle control for spring-mass walking
Hamid Reza Vejdani, Albert Wu, Hartmut Geyer and Jonathan Hurst

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 5101 - 5106, June, 2015
A neural circuitry that emphasizes spinal feedbacks generates diverse behaviors of human locomotion
Seungmoon Song and Hartmut Geyer

Journal Article, Journal of Physiology, Vol. 593, No. 16, pp. 3493-3511, April, 2015
Virtual Model Control for Dynamic Lateral Balance
Ruta Desai, Hartmut Geyer and Jessica Hodgins

Conference Paper, IEEE-RAS International Conference on Humanoid Robots, pp. 856 - 861, November, 2014
Highly robust running of articulated bipeds in unobserved terrain
Albert Wu and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 2558 - 2565, September, 2014
Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery
Nitish Thatte and Hartmut Geyer

Conference Paper, IEEE International Conference on Intelligent Robots and Systems, pp. 2069 - 2074, September, 2014
Compact nonlinear springs with user defined torque-deflection profiles for series elastic actuators
Alexander Schepelmann, Kathryn Geberth and Hartmut Geyer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 3411 - 3416, May, 2014
Robust swing leg controller under large disturbances
Seungmoon Song, Ruta Desai and Hartmut Geyer

Miscellaneous, US Patent pending (application number 14/470,277), January, 2014
The 3D Spring-Mass Model Reveals a Time-based Deadbeat Control for Highly Robust Running and Steering in Uncertain Environments
Albert Wu and Hartmut Geyer

Journal Article, IEEE Transactions on Robotics, Vol. 29, No. 5, pp. 1114-1124, October, 2013
Generalization of a Muscle-Reflex Control Model to 3D Walking
Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE Annual International Conference of the Engineering in Medicine and Biology Society, pp. 7463 - 7466, July, 2013
Integration of an adaptive swing control into a neuromuscular human walking model
Seungmoon Song, Ruta Desai and Hartmut Geyer

Conference Paper, IEEE Annual International Conference of the Engineering in Medicine and Biology Society, pp. 4915 - 4918, July, 2013
The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking
Seungmoon Song, Christopher LaMontagna, Steven Collins and Hartmut Geyer

Conference Paper, IEEE Annual International Conference of the Engineering in Medicine and Biology Society, pp. 3179-3182, July, 2013
Muscle-Reflex Control of Robust Swing Leg Placement
Ruta Desai and Hartmut Geyer

Conference Paper, Carnegie Mellon University, 2013 IEEE International Conference on Robotics and Automation (ICRA), May, 2013
Robust Swing Leg Placement under Large Disturbances
Ruta Desai and Hartmut Geyer

Conference Paper, Carnegie Mellon University, Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, December, 2012
Extension and customization of self-stability control in compliant legged systems
M Ernst, Hartmut Geyer and R Blickhan

Journal Article, Bioinspiration and Biomimetics, October, 2012
Development of a testbed for robotic neuromuscular controllers
Alexander Schepelmann, Michael D. Taylor and Hartmut Geyer

Conference Paper, Robotics: Science and Systems VIII, pp. 385 - 392, July, 2012
A clutched parallel elastic actuator concept: towards energy efficient powered legs in prosthetics and robotics
Daniel Häufle, Michael Taylor, Syn Schmitt and Hartmut Geyer

Conference Paper, IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 1614 - 1619, June, 2012
Regulating speed and generating large speed transitions in a neuromuscular human walking model
Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 511 - 516, May, 2012
The energetic cost of adaptive feet in walking
Seungmoon Song and Hartmut Geyer

Conference Paper, IEEE International Conference on Robotics and Biomimetics, pp. 1597-1602, December, 2011
Reactive balance control in walking based on a bipedal linear inverted pendulum model
Federico Parietti and Hartmut Geyer

Conference Paper, IEEE International Conference on Robotics and Automation, pp. 5442 - 5447, May, 2011
A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities
Hartmut Geyer and Hugh Herr

Journal Article, IEEE Trans Neural Syst Rehabil Eng, Vol. 18, No. 3, pp. 263-273, February, 2010
Model-Based Neuromechanical Controller for a Robotic Leg
Hugh Herr, Hartmut Geyer and Michael Ellenberg

Miscellaneous, US Patent No. 8864846, February, 2010
Control of a powered ankle-foot prosthesis based on a neuromuscular model
Michael Eilenberg, Hartmut Geyer and Hugh Herr

Journal Article, IEEE Trans Neural Syst Rehabil Eng, Vol. 18, No. 2, pp. 164-173, January, 2010
Spring-legged locomotion on uneven ground: a control approach to keep the running speed constant
Michael Ernst, Hartmut Geyer and Reinhard Blickhan

Conference Paper, Proc 12th Int Conf on Climbing and Walking Robots (CLAWAR), pp. 639 - 644, September, 2009
Simulating muscle-reflex dynamics in a simple hopping robot
Andre Seyfarth, Karl Theodor Kalveram and Hartmut Geyer

Conference Paper, Autonome Mobile Systeme 2007, pp. 294 - 300, October, 2007
Tartan Racing: A Multi-Modal Approach to the DARPA Urban Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker, Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker and Jason Ziglar

Tech. Report, Robotics Institute, Carnegie Mellon University, DARPA Grand Challenge Tech Report, April, 2007
Intelligence by mechanics
Reinhard Blickhan, Andre Seyfarth, Hartmut Geyer, Sten Grimmer, Heiko Wagner and Michael Günther

Journal Article, Phil Trans R Soc A, Vol. 365, pp. 199 - 220, January, 2007
Obstacle avoidance in a simple hopping robot
E Dittrich, Hartmut Geyer, A Karguth and A Seyfarth

Conference Paper, Proc 9th Int Conf on Climbing and Walking Robots (CLAWAR), September, 2006
Compliant leg behaviour explains basic dynamics of walking and running
Hartmut Geyer, Andre Seyfarth and Reinhard Blickhan

Journal Article, Phil Trans R Soc B, Vol. 273, pp. 2861–2867, August, 2006
Running and walking with compliant legs
Andre Seyfarth, Hartmut Geyer, Susanne Lipfert, Juergen Rummel, Yohei Minekawa and Fumiya Iida

Book Section/Chapter, In Fast Motions in Biomechanics and Robotics: Optimization and Feedback. Lecture Notes in Control and Information Science, pp. 383–402, June, 2006
Should humanoids really walk on rigid legs?
Hartmut Geyer, Andre Seyfarth and Reinhard Blickhan

Conference Paper, Proc 3rd Int Symposium on Adaptive Motion in Animals and Machines (AMAM), pp. 11, September, 2005
Influence of swing leg movement on running stability
Heidi Knuesel, Hartmut Geyer and Andre Seyfarth

Journal Article, Human Movement Science, Vol. 24, No. 4, pp. 532 - 543, August, 2005
Spring-mass running: simple approximate solution and application to gait stability
Hartmut Geyer, Andre Seyfarth and Reinhard Blickhan

Journal Article, J Theor Biol, Vol. 232, pp. 315–328, January, 2005
Speed-adaptive control scheme for legged running robots
Hugh Herr, Andre Seyfarth and Hartmut Geyer

Miscellaneous, US Patent No. 7295892, December, 2003
Positive force feedback in bouncing gaits?
Hartmut Geyer, Andre Seyfarth and Reinhard Blickhan

Journal Article, Phil Trans R Soc B, Vol. 270, pp. 2173–2183, May, 2003
Swing-leg retraction: a simple control model for stable running
André Seyfarth, Hartmut Geyer and Hugh Herr

Journal Article, J Exp Biol, Vol. 206, pp. 2547–2555, February, 2003
Natural dynamics of spring-like running: emergence of self-stability
Hartmut Geyer, Andre Seyfarth and Reinhard Blickhan

Conference Paper, 5th Int Conf on Climbing and Walking Robots (CLAWAR), pp. 87 – 91, September, 2002
A movement criterion for running
Andre Seyfarth, Hartmut Geyer, Michael Gunther and Reinhard Blickhan

Journal Article, J of Biomech, Vol. 35, pp. 649–655, January, 2002
Natural control of spring-like running: Optimised selfstabilisation
Andre Seyfarth and Hartmut Geyer

Conference Paper, 5th Int Conf on Climbing and Walking Robots (CLAWAR), pp. 81-85, January, 2002
Mailing Address
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
2017-11-16T11:43:39+00:00