My research interests include the design, simulation, and control of legged robots and other nonlinear systems. Drawing inspiration from biology and biomechanics, I am particularly interested in the effect 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.

• Institute of Human and Machine Cognition – Pensacola, FL. Hosted by Jerry Pratt October – December 2008
• Universität Heidelberg, Interdisciplinary Center for Scientific Computing, Robotics Lab – Heidelberg, Germany. Hosted by Katja Mombaur, October – November 2011

   Jul. 2011

   Jan. 2007

Degree: Dipl.-Ing. Technische Kybernetik

Research Assistant, February 2007 – August 2011 and Postdoctoral Associate since August 2011: Conceptual study of passive dynamic walking and the optimal exploitation of natural dynamics in quadrupeds; development of several robotic prototypes.

Student trainee, August 2004 – June 2005: Developed and implemented a nonlinear controller for backing up a truck with trailer.

Student trainee, May 2003 – August 2003: Fitting a model of human coronary vessels to CT-data of patients and simulation of X-ray filters for medical applications

• Dynamic Walking and Running with Robots July 2011

  - International Summerschool

• Focus Project D-MAVT

  - Arac - 2011/12

  - Pegasus - 2010/11

  - Rezero - 2009/10

  - ALoF - 2007/08

• Kleine Einführung in Mechatronische Fragestellungen Sommersemester 2007

  - Übung der Vorlesung Konstruktion (Produktentwicklung Entwurfsprozess)

• Control of an Robotic Exoskeleton
• Extending a simplistic model for walking and running horses
• Please also check the full listing of ASL Student Projects

  You're also kindly invited to have a look at the running and finished projects to see if you would enjoy working in my field and to get some inspiration. And if you come up with a great idea for a project I'll be more than happy to talk to you.

• A simplistic model for quadrupedal locomotion
• Running 10km in 10’000 Seconds with the 2n-legged Robot Pegasus

• Operation Space Control of Single Legged Hopping
• Virtual Model Control on ALoF
• Quadruped walking/running simulation
• State Estimation of a Quadruped Robot
• Fast and Robust Visual Localization on a Running Track
• Optimal Control for a Hopping Leg
• From Little-Dog to ALoF
• Passive Ankle Joint for Stable and Efficient Locomotion
• Quadrupedal Passive Dynamic Running
• Trajectory planning for a Ballbot
• Implementation of Optimal Control Strategies for a Hopping Leg
• Passive Dynamic Walking Quadrupeds in 3D
• Digital Control of a Quadruped Robot
• Planar Hopping with a Robotic Leg
• Springen mit einem vierbeinigen Roboter
• Manuelle Steuerung eines vierbeinigen Roboters
• Statisches Gehen eines vierbeinigen Roboters
• Lageregelung eines vierbeinigen Roboters
• Simulation environment for a quadruped robot
• Implementation of an embedded system for a quadruped robot
• Implementation of a vision system for a quadruped robot
• Maximum High Jump with a Robotic Leg
• Design of a force sensing robot foot
• Autonomous Kite Propulsion
• Simulations for Dynamic Locomotion with Quadrupeds
• Mechanical design of a pantographic leg for dynamic walking with a quadruped robot
• Tri-Wheel robot: redesign, commissioning, and testing
• Fahrwerksgeometrie eines Formula Student Rennwagens

• Remy, C.D., Buffinton, K.W., and Siegwart, R.Y., 2011, "Energetics of Passivity Based Running with High-Compliance Series Elastic Actuation", International Journal of Mechatronics and Manufacturing Systems, accepted for publication
• Belo, F.A.W., Birk, A., Brunskill, C., Kirchner, F., Lappas, V., Remy, C.D., Roccella, S., Rossi,C., Tikanmäki, A., Visentin, G., 2011, "The ESA Lunar Robotics Challenge: Simulating Operations at the Lunar South Pole", Journal of Field Robotics, in press
• Remy, C.D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M.H., Pradalier, C.,and Siegwart, R., 2011, "Walking and Crawling with ALoF - A Robot for Autonomous Locomotion On Four Legs", Industrial Robot: An International Journal, 38(3):564-568
• Remy, C.D., Buffinton, K.W., and Siegwart, R.Y., 2009, "Stability Analysis of Passive Dynamic Walking of Quadrupeds", The International Journal of Robotics Research, 29(9):1173-1185 [BibTeX] [URL]
• Chumanov, E.S., Remy, C.D., and Thelen, D.G., 2010, "Computational techniques for using insole pressure sensors to analyse three-dimensional joint kinetics", Computer Methods in Biomechanics and Biomedical Engineering, in press [BibTeX] [URL]
• Remy, C.D. and Thelen, D.G., 2009, "Optimal Estimation of Dynamically Consistent Kinematics and Kinetics for Forward Dynamic Simulation of Gait", Journal of Biomechanical Engineering, 131 (3) [BibTeX] [URL]

• Remy, C.D., Buffinton, K.W., and Siegwart, R., 2011, "A MATLAB Framework for Efficient Gait Creation", International Conference on Intelligent RObots and Systems, San Francisco, CA
• Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R., 2011, "ScarlETH: Design and Control of a Planar Running Robot", International Conference on Intelligent RObots and Systems, San Francisco, CA (Finalist for the Best Paper Award)
• Hoepflinger, M.H., Remy, C.D., Hutter, M., and Siegwart, R., 2011, "Towards Autono-mous Walking in Rough Terrain with ALoF", International Conference on CLimbing And WAlking Robots CLAWAR, Paris, France
• Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R., 2011, "High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH", International Conference on CLimbing And WAlking Robots CLAWAR, Paris, France
• Latta, M., Hutter, M., Remy, C.D., and Siegwart, R., 2011, "Towards Walking on Mars", Symposium of Advanced Space Technology in Robotics and Automation, ASTRA, Noordwijk, Netherlands
• Hoepflinger, M.H., Remy, C.D., Hutter, M., Spinello, L., and Siegwart, R., 2010, "Haptic Terrain Classification for Legged Robots", International Conference on Robotics and Automation, Anchorage, AK [BibTeX] [URL]
• Remy, C.D., Hutter, M., and Siegwart, R., 2010, "Passive Dynamic Walking with Quadrupeds - Extensions towards 3D", International Conference on Robotics and Automation, Anchorage, AK [BibTeX] [URL]
• Hoepflinger, M.H., Remy, C.D., Hutter, M., and Siegwart, R., 2010, "The quadruped ALoF and a step towards real world haptic terrain classification", Mechatronics 2010, Zurich, Switzerland [BibTeX] [URL]
• Remy, C.D., Buffinton, K.W., and Siegwart, R., 2010, "Energetics of passivity based running with high-compliance series elastic actuation", Mechatronics 2010, Zurich, Switzerland [BibTeX] [URL]
• Hoepflinger, M.H., Remy, C.D., Hutter, M., and Siegwart, R., 2010, "Haptic Terrain Classification on Natural Terrains for Legged Robots", International Conference on CLimbing And WAlking Robots CLAWAR, Nagoya, Japan
• Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R., 2010, "Full State Control Of A Slip Model By Touchdown Detection", International Conference on CLimbing And WAlking Robots CLAWAR, Nagoya, Japan
• Remy, C.D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M.H., Pradalier, C., and Siegwart, R., 2010, "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)
• Hutter, M., Remy, C.D., Hoepflinger, M.H., and Siegwart, R., 2010, "SLIP Running with an Articulated Robotic Leg", International Conference on Intelligent RObots and Systems, Taipei, Taiwan
• Hutter, M., Remy, C.D., and Siegwart, R., 2009, "Design of an Articulated Robotic Leg with Nonlinear Series Elastic Actuation", International Conference on CLimbing And WAlking Robots CLAWAR, Istanbul, Turkey [BibTeX] [URL]
• Hutter, M., Remy, C.D., and Siegwart, R., 2009, "Adaptive Control Strategies for Open-loop Dynamic Hopping", International Conference on Intelligent RObots and Systems, St Louis, MO [BibTeX] [URL]
• Chumanov, E.S., Remy, C.D., and Thelen, D.G., 2008, "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 [BibTeX] [URL]
• Chumanov, E.S., Remy, C.D., and Thelen, D.G., 2007, "Tracking the Position of Insole Pressure Sensors during Walking and Running", American Society of Biomechanics, Palo Alto, CA [BibTeX] [URL]
• Remy, C.D. and Thelen, D.G., 2007, "Design and Evaluation of an Adaptive Ground Contact Model", ASME 2007 Summer Bioengineering Conference, Keystone, CO [BibTeX] [URL]
• Remy, C.D. and Thelen, D.G., 2007, "Optimal Estimation of Dynamically Consistent Kinematics and Kinetics for Forward Dynamic Simulations", ASME 2007 Summer Bioengineering Conference, Keystone, CO [BibTeX] [URL]

• Remy, C.D., Hutter, M., Hoepflinger M.H., 'Team Pegasus', and Siegwart, R., 2011, Hardware Demonstration: "ALoF, StarlETH, Pegasus", Dynamic Walking, Jena, Germany
• Siegwart, R., Remy, C.D., and Hutter, M., 2010, Oral Presentation: "Exploitation of Natural Dynamics in Quadrupedal Locomotion", Dynamic Walking, Boston, MA
• Remy, C.D. and Siegwart, R., 2010, Poster Presentation: "Energetics of running with high-compliance series elastic actuation", Dynamic Walking, Boston, MA
• Hutter, M., Remy, C.D., and Siegwart, R., 2010, Poster Presentation: "Template based running with Articulated Robotic Legs", Dynamic Walking, Boston, MA
• Remy, C.D. and Siegwart, R., 2009, Oral Presentation: "Passive Dynamic Walking with Quadrupeds - Extensions towards 3D", Dynamic Walking, Vancouver, BC
• Hutter, M., Remy, C.D. and Siegwart, R., 2009, Oral Presentation: "Open-loop control strategies in passive dynamic hopping", Dynamic Walking, Vancouver, BC
• Remy, C.D., Buffinton, K., Petit, F., Siegwart, R., 2008, Poster Presentation: "Passive Dynamic Walking with Quadrupeds", Robotics Science and Systems, RSS: Control of locomotion: from animals to robots, Zurich, Switzerland
• Remy, C.D., Buffinton, K., Petit, F., Siegwart, R., 2008, Poster Presentation: "Passive Dynamic Walking with Quadrupeds", Dynamic Walking, Delft, Netherlands
• Remy, C.D., Siegwart, R., and Thelen, D.G., 2007, Poster Presentation: "Optimal Esti-mation of Dynamically Consistent Kinematics and Kinetics for Forward Dynamic Simulations", Dynamic Walking, Aland, Finland

• Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J., (DaimlerChrysler AG), 2007, "Rückfahrhilfesystem und Verfahren zur Unterstützung des Fahrers eines Zugfahrzeug-Anhänger-Gespanns bei einer Rückwärtsfahrt" - DE102005043466A1 [BibTeX]
• Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J., (DaimlerChrysler AG), 2007, "Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns" - DE102005043467A1 [BibTeX]
• Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J., (DaimlerChrysler AG), 2007, "Rückfahrhilfesystem und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns" - DE102005043468A1 [BibTeX]
• Remy, C.D., Schwarzhaupt, A., Spiegelberg, G., and Wirnitzer, J., (DaimlerChrysler AG), 2007, "Vorrichtung und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns" - DE102005043470A1 [BibTeX]