Dieses Bild zeigt C. David Remy

C. David Remy

Univ.-Prof.

Professor
Institut für Adaptive Mechanische Systeme

Kontakt

+49 711 685 60914

Heisenbergstraße 1
70569 Stuttgart
Deutschland
Raum: 5M 29

Sprechstunde

Sprechstunden werden auf Anfrage angeboten.  Bitte senden Sie dazu eine Email an david.remy@iams.uni-stuttgart.de

  1. Zeitschriftenartikel

    1. 113.
      Mohamed Thangal, S. N., More, H. L., Remy, C. D., & Donelan, J. M. (2026). Effects of sensorimotor delays and muscle force capacity limits on the performance of feedforward and feedback control in animals of different sizes. PLOS Computational Biology, 22, Article 4. https://doi.org/10.1371/journal.pcbi.1012502
    2. 112.
      Augenstein, T. E., Remy, C. D., Buddaraju, S., Claflin, E. S., & Krishnan, C. (2026). Steering the Path with a Semi-Passive Robot to Break Post-Stroke Synergies. IEEE Transactions on Biomedical Engineering, 1–11. https://doi.org/10.1109/TBME.2026.3674710
    3. 111.
      de Payrebrune, K., Flasskamp, K., Stroehla, T., Sattel, T., Bestle, D., Roeder, B., Eberhard, P., Peitz, S., Stoffel, M., Gulakala, R., Borse, A., Wohlleben, M., Sextro, W., Raff, M., Remy, C. D., Yadav, M., Stender, M., van Delden, J., Lueddecke, T., et al. (2025). The impact of AI on engineering design procedures for dynamical systems. Technische Mechanik, 45, Article 1. https://doi.org/10.24352/UB.OVGU-2025-037
    4. 110.
      Griesbauer, K., Calzolari, D., Raff, M., Remy, C. D., & Albu-Schaeffer, A. (2025). Discovering Optimal Natural Gaits of Dissipative Systems via Virtual Energy Injection. IEEE Robotics and Automation Letters, 11, Article 2. https://doi.org/10.1109/LRA.2025.3640976
    5. 109.
      Raff, M., & Remy, C. D. (2025). Continuation of Periodic Orbits in Conservative Hybrid Dynamical Systems and its Application to Mechanical Systems with Impulsive Dynamics. Nonlinear Dynamics, 113, Article 8. https://doi.org/10.1007/s11071-024-10565-3
    6. 108.
      Ebel, H., van Delden, J., Lueddecke, T., Borse, A., Gulakala, R., Stoffel, M., Yadav, M., Stender, M., Schindler, L., de Payrebrune, K., Raff, M., Remy, C. D., Roeder, B., Rohit, R., Rentschler, T., Tismer, A., Riedelbauch, S., & Eberhard, P. (2025). Data publishing in mechanics and dynamics: challenges, guidelines, and examples from engineering design. Data-Centric Engineering, 6, Article 4. https://doi.org/10.1017/dce.2025.13
    7. 107.
      Remy, C. D., Brei, Z., Bruder, D., Remy, J., Buffinton, K., & Gillespie, R. B. (2024). The “Fluid Jacobian”: Modeling force-motion relationships in fluid-driven soft robots. International Journal of Robotics Research, 43, Article 5. https://doi.org/10.1177/02783649231210592
    8. 106.
      Augenstein, T., Remy, C. D., Claflin, E. S., Ranganathan, R., & Krishnan, C. (2024). Teaching motor skills without a motor: A semi-passive robot to facilitate learning. IEEE Transactions on Haptics, 17, Article 3. https://doi.org/10.1109/TOH.2023.3330368
    9. 105.
      Dai, T., Velimirovic, N., Zalles, P., Bruder, D., Buffinton, K., Gillespie, R. B., & Remy, C. D. (2024). Modeling and experimental validation of high-flow fluid-driven membrane valves for hyperactuated soft robots. Advanced Intelligent Systems, 6, Article 8. https://doi.org/10.1002/aisy.202300864
    10. 104.
      Bunz, E., Haeufle, D., Remy, C. D., & Schmitt, S. (2023). Bioinspired preactivation reflex increases robustness of walking on rough terrain. Scientific Reports, 13, Article 1. https://doi.org/10.1038/s41598-023-39364-3
    11. 103.
      Masia, L., Schneider, U., Maufroy, C., Haeufle, D., Wischniewski, S., & Remy, C. D. (2023). Exoskelette am Arbeitsplatz und ihr Potenzial zur Prävention von arbeitsbedingten Muskel-Skeletterkrankungen. BVOU-Infobrief, 2023, Article 1.
    12. 102.
      Raff, M., Rosa, N., & Remy, C. D. (2022). Connecting gaits in energetically conservative legged systems. IEEE Robotics and Automation Letters, 7, Article 3. https://doi.org/10.1109/LRA.2022.3186500
    13. 101.
      Ingraham, K., Rouse, E., & Remy, C. D. (2022). The role of user preference in the customized control of robotic exoskeletons. Science Robotics, 7, Article 64. https://doi.org/10.1126/scirobotics.abj3487
    14. 100.
      Bruder, D., Fu, X., Gillespie, R. B., Remy, C. D., & Vasudevan, R. (2021). Koopman-based control of a soft continuum manipulator under variable loading conditions. IEEE Robotics and Automation Letters, 6, Article 4. https://doi.org/10.1109/LRA.2021.3095268
    15. 99.
      Sedal, A., Wineman, A., Gillespie, R. B., & Remy, C. D. (2021). Comparison and experimental validation of predictive models for soft, fiber-reinforced actuators. The International Journal of Robotics Research, 40, Article 1. https://doi.org/10.1177/0278364919879493
    16. 98.
      Ingraham, K., Rouse, E., & Remy, C. D. (2020). Accelerating the estimation of metabolic cost using signal derivatives: implications for optimization and evaluation of wearable robots. IEEE Robotics & Automation Magazine, 27, Article 1. https://doi.org/10.1109/mra.2019.2954108
    17. 97.
      Bruder, D., Fu, X., Gillespie, R. B., Remy, C. D., & Vasudevan, R. (2020). Data-driven control of soft robots using Koopman operator theory. IEEE Transactions on Robotics, 37, Article 3. https://doi.org/10.1109/TRO.2020.3038693
    18. 96.
      Gan, Z., Tang, H., Treadway, E., Gillespie, R. B., & Remy, C. D. (2020). Modeling and experimental evaluation of a variable hydraulic transmission. IEEE/ASME Transactions on Mechatronics, 25, Article 2. https://doi.org/10.1109/tmech.2019.2963880
    19. 95.
      Augenstein, T., Washabaugh, E., Remy, C. D., & Krishnan, C. (2020). Motor modules are impacted by the number of reaching directions included in the analysis. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28, Article 9. https://doi.org/10.1109/tnsre.2020.3008565
    20. 94.
      Felt, W., Telleria, M., Allen, T., Hein, G., Pompa, J., Albert, K., & Remy, C. D. (2019). An inductance-based sensing system for bellows-driven continuum joints in soft ro\-bots. Autonomous Robots, 43, Article 2. https://doi.org/10.1007/s10514-018-9769-7
    21. 93.
      Zaytsev, P., Cnops, T., & Remy, C. D. (2019). A detailed look at the SLIP model dynamics: bifurcations, chaotic behavior, and fractal basins of attraction. Journal of Computational and Nonlinear Dynamics, 14, Article 8. https://doi.org/10.1115/1.4043453
    22. 92.
      Ingraham, K., Ferris, D., & Remy, C. D. (2019). Evaluating physiological signal salience for estimating metabolic energy cost from wearable sensors. Journal of Applied Physiology, 126, Article 3. https://doi.org/10.1152/japplphysiol.00714.2018
    23. 91.
      Smit-Anseeuw, N., Remy, C. D., & Vasudevan, R. (2019). Walking with confidence: safety regulation for full order biped models. IEEE Robotics and Automation Letters, 4, Article 4. https://doi.org/10.1109/lra.2019.2931225
    24. 90.
      Torricelli, D., Veneman, J., Gonzalez-Vargas, J., Mombaur, K., & Remy, C. D. (2019). Editorial: Assessing bipedal locomotion: towards replicable benchmarks for robotic and robot-assisted locomotion. Frontiers in Neurorobotics, 13, 86. https://doi.org/10.3389/fnbot.2019.00086
    25. 89.
      Felt, W., & Remy, C. D. (2018). A closed-form kinematic model for Fiber Reinforced Elastomeric Enclosures. Journal of Mechanisms and Robotics, 10, Article 1. https://doi.org/10.1115/1.4038220
    26. 88.
      Treadway, E., Gan, Z., Remy, C. D., & Gillespie, R. B. (2018). Toward controllable hydraulic coupling of joints in a wearable robot. IEEE Transactions on Robotics, 34, Article 3. https://doi.org/10.1109/TRO.2018.2799597
    27. 87.
      Bruder, D., Sedal, A., Vasudevan, R., & Remy, C. D. (2018). Force generation by parallel combinations of fiber-reinforced fluid-driven actuators. IEEE Robotics and Automation Letters, 3, Article 4. https://doi.org/10.1109/LRA.2018.2859441
    28. 86.
      Chang, C.-K., Washabaugh, E., Gwozdziowski, A., Remy, C. D., & Krishnan, C. (2018). A semi-passive planar manipulandum for upper-extremity rehabilitation. Annals of Biomedical Engineering, 46, Article 7. https://doi.org/10.1007/s10439-018-2020-z
    29. 85.
      Ingraham, K., Choi, H., Gardinier, E., Remy, C. D., & Gates, D. (2018). Choosing appropriate prosthetic ankle work to reduce the metabolic cost of individuals with transtibial amputation. Scientific Reports, 8, Article 15303. https://doi.org/10.1038/s41598-018-33569-7
    30. 84.
      Gan, Z., Jiao, Z., & Remy, C. D. (2018). On the dynamic similarity between bipeds and quadrupeds: a case study on bounding. IEEE Robotics and Automation Letters, 3, Article 4. https://doi.org/10.1109/LRA.2018.2854923
    31. 83.
      Felt, W., Lu, S., & Remy, C. D. (2018). Modeling and design of “Smart Braid” inductance sensors for Fiber Reinforced Elastomeric Enclosures. IEEE Sensors Journal, 18, Article 7. https://doi.org/10.1109/JSEN.2018.2802640
    32. 82.
      Washabaugh, E., Guo, J., Chang, C.-K., Remy, C. D., & Krishnan, C. (2018). A portable passive rehabilitation robot for upper-extremity functional resistance training. IEEE Transactions on Biomedical Engineering, 66, Article 2. https://doi.org/10.1109/TBME.2018.2849580
    33. 81.
      Gan, Z., Yesilevskiy, Y., Zaytsev, P., & Remy, C. D. (2018). All common bipedal gaits emerge from a single passive model. J. R. Soc. Interface, 15, Article 146. https://doi.org/10.1098/rsif.2018.0455
    34. 80.
      Yesilevskiy, Y., Gan, Z., & Remy, C. D. (2018). Energy-optimal hopping in parallel and series elastic 1D monopeds. Journal of Mechanisms and Robotics, 10, Article 3. https://doi.org/10.1115/1.4039496
    35. 79.
      Yesilevskiy, Y., Yang, W., & Remy, C. D. (2018). Spine morphology and energetics: How principles from nature apply to robotics. Bioinspiration and Biomimetics, 13, Article 3. https://doi.org/10.1088/1748-3190/aaaa9e
    36. 78.
      Washabaugh, E., Treadway, E., Gillespie, R. B., Remy, C. D., & Krishnan, C. (2018). Self-powered robots to reduce motor slacking during upper-extremity rehabilitation: a proof of concept study. Restorative Neurology and Neuroscience, 36, Article 6. https://doi.org/10.3233/RNN-180830
    37. 77.
      Felt, W., Chin, K. Y., & Remy, C. D. (2017). Smart Braid feedback for the closed-loop control of soft robotic systems. Soft Robotics, 4, Article 3. https://doi.org/10.1089/soro.2016.0056
    38. 76.
      Smit-Anseeuw, N., Gleason, R., Vasudevan, R., & Remy, C. D. (2017). The energetic benefit of robotic gait selection - a case study on the robot RAMone. IEEE Robotics and Automation Letters, 2, Article 2. https://doi.org/10.1109/LRA.2017.2661801
    39. 75.
      Remy, C. D. (2017). Ambiguous collision outcomes and sliding with infinite friction in models of legged systems. The International Journal of Robotics Research, 36, Article 12. https://doi.org/10.1177/0278364917731820
    40. 74.
      Koller, J., Gates, D., Ferris, D., & Remy, C. D. (2016). Confidence in the curve: establishing instantaneous cost mapping techniques using bilateral ankle exoskeletons. Journal of Applied Physiology, 122, Article 2. https://doi.org/10.1152/japplphysiol.00710.2016
    41. 73.
      Koller, J., Jacobs, D., Ferris, D., & Remy, C. D. (2015). Learning to walk with an adaptive gain proportional myoelectric controller for a robotic ankle exoskeleton. Journal of NeuroEngineering and Rehabilitation, 12, Article 97. https://doi.org/10.1186/s12984-015-0086-5
    42. 72.
      Felt, W., Selinger, J., Donelan, M., & Remy, C. D. (2015). “Body-In-The-Loop”: Optimizing device parameters using measures of instantaneous energetic cost. Plos One, 10, Article 8. https://doi.org/10.1371/journal.pone.0135342
    43. 71.
      Xi, W., Yesilevskiy, Y., & Remy, C. D. (2015). Selecting gaits for economical locomotion of legged robots. The International Journal of Robotics Research, 35, Article 9. https://doi.org/10.1177/0278364915612572
    44. 70.
      Felt, W., Chin, K. Y., & Remy, C. D. (2015). Contraction sensing with smart braid McKibben muscles. IEEE/ASME Transactions on Mechatronics, 21, Article 3. https://doi.org/10.1109/TMECH.2015.2493782
    45. 69.
      Gan, Z., Wiestner, T., Weishaupt, M., Waldern, N., & Remy, C. D. (2015). Passive dynamics explain quadrupedal walking, trotting, and toelting. ASME Journal of Computational and Nonlinear Dynamics, 11, Article 2. https://doi.org/10.1115/1.4030622
    46. 68.
      Hutter, M., Remy, C. D., Hoepflinger, M., & Siegwart, R. (2013). Efficient and versatile locomotion with highly compliant legs. IEEE/ASME Transactions on Mechatronics, 18, Article 2. https://doi.org/10.1109/TMECH.2012.2222430
    47. 67.
      Remy, C. D., Buffinton, K., & Siegwart, R. (2012). Energetics of passivity-based running with high-compliance series elastic actuation. International Journal of Mechatronics and Manufacturing Systems, 5, Article 2. https://doi.org/10.1504/IJMMS.2012.046526
    48. 66.
      Belo, F., Birk, A., Brunskill, C., Kirchner, F., Lappas, V., Remy, C. D., Roccella, S., Rossi, C., Tikanmaeki, A., & Visentin, G. (2012). The ESA lunar robotics challenge: simulating operations at the lunar south pole. Journal of Field Robotics, 29, Article 4. https://doi.org/10.1002/rob.20429
    49. 65.
      Remy, C. D., Hutter, M., Hoepflinger, M., Bloesch, M., Gehring, C., & Siegwart, R. (2012). Quadrupedal robots with stiff and compliant actuation. AT-Auto\-Matisier\-Ung\-Stechnik, 60, Article 11. https://doi.org/10.1524/auto.2012.1042
    50. 64.
      Remy, C. D. (2011). Optimal exploitation of natural dynamics in legged locomotion. https://doi.org/10.3929/ethz-a-6665065
    51. 63.
      Remy, C. D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M., Pradalier, C., & Siegwart, R. (2011). Walking and crawling with ALoF: a robot for autonomous locomotion on four legs. Industrial Robot: An International Journal, 38, Article 3. https://doi.org/10.3929/ethz-a-010185535
    52. 62.
      Remy, C. D., Buffinton, K., & Siegwart, R. (2010). Stability analysis of passive dynamic walking of quadrupeds. The International Journal of Robotics Research, 29, Article 9. https://doi.org/10.1177/0278364909344635
    53. 61.
      Chumanov, E., Remy, C. D., & Thelen, D. (2010). Computational techniques for using insole pressure sensors to analyse three-dimensional joint kinetics. Computer Methods in Biomechanics and Biomedical Engineering, 13, Article 5. https://doi.org/10.1080/10255840903350148
    54. 60.
      Remy, C. D., & Thelen, D. (2009). Optimal estimation of dynamically consistent kinematics and kinetics for forward dynamic simulation of gait. Journal of Biomechanical Engineering, 131, Article 3. https://doi.org/10.1115/1.3005148
    55. 59.
      Remy, C. D. (2006). Integration of an adaptive ground construct model into the dynamic simulation of gait.
    56. 58.
      Remy, C. D. (2005). Implementierung eines E/A-linearisierenden Reglers zur Steuerung der Rückwärtsfahrt eines Gliederzuges.

  2. Konferenzartikel

    1. 57.
      Bendfeld, R., & Remy, C. D. (2025). Bipedal walking with continuously compliant robotic legs. International Conference on Robotics and Automation (ICRA), 5336–5342.
    2. 56.
      Abou-Taleb, M., Raff, M., Flasskamp, K., & Remy, C. D. (2025). Koopman Based Trajectory Optimization with Mixed Boundaries. 7th Annual Learning for Dynamics and Control Conference, 1565–1577.
    3. 55.
      Sachtler, A., Calzolari, D., Raff, M., Schmidt, A., Wotte, Y., Della Santina, C., Remy, C. D., & Albu-Schaeffer, A. (2024). Swing-up of a weakly actuated double pendulum via nonlinear normal modes. 2024 European Control Conference (ECC), 2392–2398. https://doi.org/10.23919/ECC64448.2024.10590854
    4. 54.
      Bendfeld, R., & Remy, C. D. (2024). Squatting with prostheses-inspired compliant robotic legs. International Conference for Biomedical Robotics and Biomechatronics (BioRob), 55–61. https://doi.org/10.1109/BioRob60516.2024.10719874
    5. 53.
      Rosa, N., Katamish, B., Raff, M., & Remy, C. D. (2023). An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits. International Conference on Intelligent Robots and Systems (IROS), 8551–8557. https://doi.org/10.1109/IROS55552.2023.10342322
    6. 52.
      Bendfeld, R., & Remy, C. D. (2023). Contact force control with continuously compliant robotic legs. International Conference on Robotics and Automation (ICRA), 5256–5262. https://doi.org/10.1109/ICRA48891.2023.10160269
    7. 51.
      Eckstein, S., Leudesdorff, B., Maufroy, C., Schneider, U., & Remy, C. D. (2023). State-Based Control for an Actuated Reciprocal Gait Orthosis. International Conference on Intelligent Robots and Systems (IROS), 6075–6081. https://doi.org/10.1109/IROS55552.2023.10342037
    8. 50.
      Bendfeld, R., & Remy, C. D. (2023). Modeling and workspace characterization of continuously compliant robotic legs. International Conference on Intelligent Robots and Systems (IROS), 4405–4411. https://doi.org/10.1109/IROS55552.2023.10342327
    9. 49.
      Raff, M., Rosa, N., & Remy, C. D. (2022). Generating families of optimally actuated gaits from a legged system’s energetically conservative dynamics. International Conference on Intelligent Robots and Systems (IROS), 8866–8872. https://doi.org/10.1109/IROS47612.2022.9981693
    10. 48.
      Ingraham, K., Remy, C. D., & Rouse, E. (2020). User preference of applied torque characteristics for bilateral powered ankle exoskeletons. International Conference for Biomedical Robotics and Biomechatronics (BioRob), 839–845. https://doi.org/10.1109/BioRob49111.2020.9224358
    11. 47.
      Schumann, E., Smit-Anseeuw, N., Zaytsev, P., Gleason, R., Shorter, A., & Remy, C. D. (2019). Effects of foot stiffness and damping on walking robot performance. International Conference on Robotics and Automation (ICRA), 3698–3704. https://doi.org/10.1109/icra.2019.8794050
    12. 46.
      Bruder, D., Gillespie, R. B., Remy, C. D., & Vasudevan, R. (2019, May). Modeling and control of soft robots using the Koopman operator and model predictive control. Robotics Science and Systems (RSS). https://doi.org/10.15607/RSS.2019.XV.060
    13. 45.
      Bruder, D., Remy, C. D., & Vasudevan, R. (2019). Nonlinear system identification of soft robot dynamics using Koopman operator theory. International Conference on Robotics and Automation (ICRA), 6244–6250. https://doi.org/10.1109/icra.2019.8793766
    14. 44.
      Augenstein, T., Washabaugh, E., Remy, C. D., & Krishnan, C. (2018). A novel EMG-based robotic control for restoring normal synergies after stroke. American Society of Neurorehabilitation Annual Meeting, 1067–1112. https://doi.org/10.1177/1545968318817151
    15. 43.
      Felt, W., Telleria, M., Allen, T., Hein, G., Pompa, J., Albert, K., & Remy, C. D. (2017, July). An inductance-based sensing system for bellows-driven continuum joints in soft ro\-bots. Robotics Science and Systems (RSS). https://doi.org/10.15607/RSS.2017.XIII.027
    16. 42.
      Ingraham, K., Ferris, D., & Remy, C. D. (2017). Using portable physiological sensors to estimate energy cost for “Body-in-the-Loop” optimization of assistive robotic devices. GlobalSIP, 413–417. https://doi.org/10.1109/GlobalSIP.2017.8308675
    17. 41.
      Ingraham, K., Ferris, D., & Remy, C. D. (2017). Using wearable physiological sensors to predict energy expenditure. International Conference on Rehabilitation Robotics (ICORR), 340–345. https://doi.org/10.1109/ICORR.2017.8009270
    18. 40.
      Koller, J., Remy, C. D., & Ferris, D. (2017). Comparing neural control and mechanically intrinsic control of powered ankle exoskeletons. International Conference on Rehabilitation Robotics (ICORR), 294–299. https://doi.org/10.1109/ICORR.2017.8009262
    19. 39.
      Smit-Anseeuw, N., Gleason, R., Zaytsev, P., & Remy, C. D. (2017). RAMone: a planar biped for studying the energetics of gait. International Conference on Intelligent Robots and Systems (IROS), 4090–4095. https://doi.org/10.1109/IROS.2017.8206266
    20. 38.
      Yesilevskiy, Y., Gan, Z., & Remy, C. D. (2016). Optimal configuration of series and parallel elasticity in a 2D monoped. International Conference on Robotics and Automation (ICRA), 1360–1365. https://doi.org/10.1109/ICRA.2016.7487269
    21. 37.
      Felt, W., Suen, M., & Remy, C. D. (2016). Sensing the motion of bellows through changes in mutual inductance. International Conference on Intelligent Robots and Systems (IROS), 5252–5227. https://doi.org/10.1109/IROS.2016.7759772
    22. 36.
      Koller, J., Gates, D., Ferris, D., & Remy, C. D. (2016, June). “Body-in-the-Loop” optimization of asssistive robotic devices: a validation study. Robotics Science and Systems (RSS). https://doi.org/10.15607/RSS.2016.XII.007
    23. 35.
      Green, K., Smit-Anseeuw, N., Gleason, R., & Remy, C. D. (2016). Design and control of a recovery system for legged robots. Advanced Intelligent Mechatronics (AIM), 958–963. https://doi.org/10.1109/AIM.2016.7576893
    24. 34.
      Yesilevskiy, Y., Xi, W., & Remy, C. D. (2015). A comparison of series and parallel elasticity in a monoped hopper. International Conference on Robotics and Automation (ICRA), 1036–1041. https://doi.org/10.1109/ICRA.2015.7139304
    25. 33.
      Gan, Z., Fry, K., Gillespie, R. B., & Remy, C. D. (2015). A novel variable transmission with digital hydraulics. International Conference on Intelligent Robots and Systems (IROS), 5838–5843. https://doi.org/10.1109/IROS.2015.7354206
    26. 32.
      Cnops, T., Gan, Z., & Remy, C. D. (2015). The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control. International Conference on Intelligent Robots and Systems (IROS), 1586–1591. https://doi.org/10.1109/IROS.2015.7353579
    27. 31.
      Gan, Z., & Remy, C. D. (2014). A passive dynamic quadruped that moves in a large variety of gaits. International Conference on Intelligent Robots and Systems (IROS), 4876–4881. https://doi.org/10.1109/IROS.2014.6943255
    28. 30.
      Xi, W., & Remy, C. D. (2014). Optimal gaits and motions for legged robots. International Conference on Intelligent Robots and Systems (IROS), 3259–3265. https://doi.org/10.1109/IROS.2014.6943015
    29. 29.
      Felt, W., & Remy, C. D. (2014). Smart Braid: air muscles that measure force and displacement. International Conference on Intelligent Robots and Systems (IROS), 2821–2826. https://doi.org/10.1109/IROS.2014.6942949
    30. 28.
      Hertig, L., Schindler, D., Bloesch, M., Remy, C. D., & Siegwart, R. (2013). Unified state estimation for a ballbot. International Conference on Robotics and Automation (ICRA), 2471–2476. https://doi.org/10.1109/ICRA.2013.6630913
    31. 27.
      Hoepflinger, M., Baschung, D., Remy, C. D., Hutter, M., Siegwart, R., Hoch, N., & Werther, B. (2012). ParcelBot: a tracked parcel transporter with high obstacle negotiation capabilities. International Conference on Climbing and Walking Robots (CLAWAR), 831–838. https://doi.org/10.3929/ethz-a-010034709
    32. 26.
      Bloesch, M., Hutter, M., Hoepflinger, M., Remy, C. D., Gehring, C., & Siegwart, R. (2012). State estimation for legged robots - consistent fusion of leg kinematics and IMU. Robotics Science and Systems (RSS), 17–24. https://doi.org/10.15607/RSS.2012.VIII.003
    33. 25.
      Hutter, M., Hoepflinger, M., Gehring, C., Bloesch, M., Remy, C. D., & Siegwart, R. (2012, July). Hybrid operational space control for compliant legged systems. Robotics Science and Systems (RSS). https://doi.org/10.15607/RSS.2012.VIII.017
    34. 24.
      Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M., Remy, C. D., & Siegwart, R. (2012, July). StarlETH: a compliant quadrupedal robot for fast, efficient, and versatile locomotion. International Conference on Climbing and Walking Robots (CLAWAR). https://doi.org/10.3929/ethz-a-010034688
    35. 23.
      Remy, C. D., Buffinton, K., & Siegwart, R. (2012). Comparison of cost functions for electrically driven running robots. International Conference on Robotics and Automation (ICRA), 2343–2350. https://doi.org/10.1109/ICRA.2012.6224960
    36. 22.
      Hutter, M., Holenstein, C., Fenner, D., Remy, C. D., Hoepflinger, M., & Siegwart, R. (2012, July). Improved efficiency in legged running using lightweight passive compliant feet. International Conference on Climbing and Walking Robots (CLAWAR). https://doi.org/10.3929/ethz-a-010034696
    37. 21.
      Remy, C. D., Buffinton, K., & Siegwart, R. (2011). A MATLAB framework for efficient gait creation. International Conference on Intelligent Robots and Systems (IROS), 190–197. https://doi.org/10.1109/IROS.2011.6094452
    38. 20.
      Hutter, M., Remy, C. D., Hoepflinger, M., & Siegwart, R. (2011). ScarlETH: design and control of a planar running robot. International Conference on Intelligent Robots and Systems (IROS), 562–567. https://doi.org/10.1109/IROS.2011.6094504
    39. 19.
      Hutter, M., Remy, C. D., Hoepflinger, M., & Siegwart, R. (2011). High compliant series elastic actuation for the robotic leg ScarlETH. International Conference on Climbing and Walking Robots (CLAWAR), 507–514. https://doi.org/10.3929/ethz-a-010025741
    40. 18.
      Hoepflinger, M., Remy, C. D., Hutter, M., & Siegwart, R. (2011, August). Extrinsic RGB-D camera calibration for legged robots. International Conference on Climbing and Walking Robots (CLAWAR). https://doi.org/10.3929/ethz-a-010027510
    41. 17.
      Remy, C. D., Hutter, M., & Siegwart, R. (2010). Passive dynamic walking with quadrupeds - Extensions towards 3D. International Conference on Robotics and Automation (ICRA), 5231–5236. https://doi.org/10.1109/ROBOT.2010.5509408
    42. 16.
      Hoepflinger, M., Remy, C. D., Hutter, M., Haag, S., & Siegwart, R. (2010). Haptic terrain classification on natural terrains for legged robots. International Conference on Climbing and Walking Robots (CLAWAR), 785–792. https://doi.org/10.1142/9789814329927_0097
    43. 15.
      Hutter, M., Remy, C. D., Hoepflinger, M., & Siegwart, R. (2010). Slip running with an articulated robotic leg. International Conference on Intelligent Robots and Systems (IROS), 4934–4939. https://doi.org/10.1109/IROS.2010.5651461
    44. 14.
      Hutter, M., Remy, C. D., Hoepflinger, M., & Siegwart, R. (2010, August). Full state control of a slip model by touchdown detection. International Conference on Climbing and Walking Robots (CLAWAR). https://doi.org/10.3929/ethz-a-010184807
    45. 13.
      Remy, C. D., Buffinton, K., & Siegwart, R. (2010, June). Energetics of passivity-based running with high-compliance series elastic actuation. The 12th Mechatronics Forum Biennial International Conference. https://doi.org/10.3929/ethz-a-010027887
    46. 12.
      Remy, C. D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M., Pradalier, C., & Siegwart, R. (2010, August). Walking and crawling with ALoF: a robot for autonomous locomotion on four legs. International Conference on Climbing and Walking Robots (CLAWAR). https://doi.org/10.3929/ethz-a-010185444
    47. 11.
      Hoepflinger, M., Remy, C. D., Hutter, M., Spinello, L., & Siegwart, R. (2010). Haptic terrain classification for legged robots. International Conference on Robotics and Automation (ICRA), 2828–2833. https://doi.org/10.1109/ROBOT.2010.5509309
    48. 10.
      Hoepflinger, M., Remy, C. D., Hutter, M., & Siegwart, R. (2010, June). The quadruped ALoF and a step towards real world haptic terrain classification. The 12th Mechatronics Forum Biennial International Conference. https://doi.org/10.3929/ethz-a-010027882
    49. 9.
      Hutter, M., Remy, C. D., & Siegwart, R. (2009). Adaptive control strategies for open-loop dynamic hopping. International Conference on Intelligent Robots and Systems (IROS), 154–159. https://doi.org/10.1109/IROS.2009.5354474
    50. 8.
      Hutter, M., Remy, C. D., & Siegwart, R. (2009). Design of an articulated robotic leg with nonlinear series elastic actuation. International Conference on Climbing and Walking Robots (CLAWAR), 645–652. https://doi.org/10.3929/ethz-a-010034557
    51. 7.
      Remy, C. D., & Thelen, D. (2007). Design and evaluation of an adaptive ground contact model. ASME Summer Bioengineering Conference, 27–28. https://doi.org/10.1115/SBC2007-176536
    52. 6.
      Remy, C. D., & Thelen, D. (2007). Optimal estimation of dynamically consistent kinematics and kinetics for forward dynamic simulations. ASME Summer Bioengineering Conference, 25–26. https://doi.org/10.1115/SBC2007-176521

  3. Patente

    1. 5.
      Felt, W., & Remy, C. D. (2015). Sensing method for fiber-driven motion systems.
    2. 4.
      Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Rückfahrhilfesystem und Verfahren zur Unterstützung des Fahrers eines Zugfahrzeug-Anhänger-Gespanns bei einer Rückwärtsfahrt.
    3. 3.
      Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns.
    4. 2.
      Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Vorrichtung und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns.
    5. 1.
      Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Rückfahrhilfesystem und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns.

C. David Remy ist ordentlicher Professor an der Universität Stuttgart und Direktor des Instituts für Adaptive Mechanische Systeme. Er promovierte 2011 an der ETH Zürich (bei Prof. Roland Siegwart) und besitzt einen M.Sc. in Maschinenbau von der University of Wisconsin, Madison sowie ein Diplom in Technischer Kybernetik von der Universität Stuttgart. Vor seiner Berufung nach Stuttgart war er Associate Professor an der University of Michigan, Ann Arbor. Er ist Mitglied der Studienstiftung des deutschen Volkes und Träger des NSF CAREER Award.

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