Publications

Discover the latest robotics research from the Institute for Adaptive Mechanical Systems (IAMS). Our work is featured in leading international journals such as Science Robotics, Nature Materials, Advanced Materials, and IEEE Transactions on Robotics, as well as premier conferences including ICRA, IROS, and RSS. Explore a dynamic portfolio of publications shaping the future of intelligent mechanical systems.

  1. 2026

    1. Joo, H.-J., Fukushima, T., Li, X., Shagan Shomron, A., Koh, S. J. A., Rothemund, P., & Keplinger, C. (2026). Ultralight soft electrostatic actuators based on solid-liquid-gas architectures. Nature Communications, 17, Article 1. https://doi.org/10.1038/s41467-026-69463-4
    2. 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. Zhang, S. L., Fukushima, T., Kirkman, S., Koh, S. J. A., Rothemund, P., & Keplinger, C. (2026). A method to study and enhance the energy efficiency of soft electrostatic actuators. Proceedings of the National Academy of Sciences, 123, Article 6. https://doi.org/10.1073/pnas.2527676123
    4. Friz, J. (2026). Identifying a model for human walking. Universität Stuttgart. https://doi.org/10.18419/OPUS-18418

  2. 2025

    1. Milana, E., Santina, C. D., Gorissen, B., & Rothemund, P. (2025). Physical control: A new avenue to achieve intelligence in soft robotics. Science Robotics, 10, Article 102. https://doi.org/10.1126/scirobotics.adw7660
    2. 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
    3. 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. 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
    5. Xu, Y., Zhang, F., Rothemund, P., Keplinger, C., Xu, Z., Li, J., Zheng, Q., & Zhu, J. (2025). Soft reconfigurable logic gates with high-frequency electrical switching. Science Advances, 11, Article 32. https://doi.org/10.1126/sciadv.adx1509
    6. 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. 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.
    8. Bendfeld, R., & Remy, C. D. (2025). Bipedal walking with continuously compliant robotic legs. International Conference on Robotics and Automation (ICRA), 5336–5342.

  3. 2024

    1. 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
    2. Yoder, Z., Rumley, E. H., Schmidt, I., Rothemund, P., & Keplinger, C. (2024). Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots. Science Robotics, 9, Article 94. https://doi.org/10.1126/scirobotics.adl3546
    3. 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
    4. 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
    5. Sanchez‐Tamayo, N., Yoder, Z., Rothemund, P., Ballardini, G., Keplinger, C., & Kuchenbecker, K. J. (2024). Cutaneous Electrohydraulic (CUTE) Wearable Devices for Pleasant Broad‐Bandwidth Haptic Cues. Advanced Science, 11, Article 48. https://doi.org/10.1002/advs.202402461
    6. 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
    7. 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
    8. Abou-Taleb, M. (2024). Koopman based periodic trajectory optimization : towards globally optimal gaits. Universität Stuttgart. https://doi.org/10.18419/OPUS-17863

  4. 2023

    1. 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.
    2. 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
    3. Benselfelt, T., Shakya, J., Rothemund, P., Lindström, S. B., Piper, A., Winkler, T. E., Hajian, A., Wågberg, L., Keplinger, C., & Hamedi, M. M. (2023). Electrochemically Controlled Hydrogels with Electrotunable Permeability and Uniaxial Actuation. Advanced Materials, 35, Article 45. https://doi.org/10.1002/adma.202303255
    4. Rumley, E. H., Preninger, D., Shagan Shomron, A., Rothemund, P., Hartmann, F., Baumgartner, M., Kellaris, N., Stojanovic, A., Yoder, Z., Karrer, B., Keplinger, C., & Kaltenbrunner, M. (2023). Biodegradable electrohydraulic actuators for sustainable soft robots. Science Advances, 9, Article 12. https://doi.org/10.1126/sciadv.adf5551
    5. Benselfelt, T., Rothemund, P., & Lee, P. S. (2023). Ultrafast, High‐Strain, and Strong Uniaxial Hydrogel Actuators from Recyclable Nanofibril Networks. Advanced Materials, 35, Article 22. https://doi.org/10.1002/adma.202300487
    6. 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
    7. 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
    8. 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
    9. 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
    10. Li, R. (2023). An impact law design for energetically conservative legged systems in the exploration of periodic gaits. Universität Stuttgart. https://doi.org/10.18419/OPUS-18147

  5. 2022

    1. 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
    2. 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
    3. 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

  6. 2021

    1. 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
    2. Fowler, H. E., Rothemund, P., Keplinger, C., & White, T. J. (2021). Liquid Crystal Elastomers with Enhanced Directional Actuation to Electric Fields. Advanced Materials, 33, Article 43. https://doi.org/10.1002/adma.202103806
    3. Rothemund, P., Kim, Y., Heisser, R. H., Zhao, X., Shepherd, R. F., & Keplinger, C. (2021). Shaping the future of robotics through materials innovation. Nature Materials, 20, Article 12. https://doi.org/10.1038/s41563-021-01158-1
    4. Kellaris, N., Rothemund, P., Zeng, Y., Mitchell, S. K., Smith, G. M., Jayaram, K., & Keplinger, C. (2021). Spider‐Inspired Electrohydraulic Actuators for Fast, Soft‐Actuated Joints. Advanced Science, 8, Article 14. https://doi.org/10.1002/advs.202100916
    5. 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
    6. Kirkman, S., Rothemund, P., Acome, E., & Keplinger, C. (2021). Electromechanics of planar HASEL actuators. Extreme Mechanics Letters, 48, 101408. https://doi.org/10.1016/j.eml.2021.101408
    7. Li, Y., Root, S. E., Belding, L., Park, J., Rawson, J., Yoon, H. J., Baghbanzadeh, M., Rothemund, P., & Whitesides, G. M. (2021). Characterizing Chelation at Surfaces by Charge Tunneling. Journal of the American Chemical Society, 143, Article 15. https://doi.org/10.1021/jacs.1c01800

  7. 2020

    1. Rothemund, P., Kirkman, S., & Keplinger, C. (2020). Dynamics of electrohydraulic soft actuators. Proceedings of the National Academy of Sciences, 117, Article 28. https://doi.org/10.1073/pnas.2006596117
    2. 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
    3. Rothemund, P., Kellaris, N., Mitchell, S. K., Acome, E., & Keplinger, C. (2020). HASEL Artificial Muscles for a New Generation of Lifelike Robots—Recent Progress and Future Opportunities. Advanced Materials, 33, Article 19. https://doi.org/10.1002/adma.202003375
    4. 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
    5. 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
    6. 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
    7. 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

  8. 2019

    1. Rothemund, P., Kellaris, N., & Keplinger, C. (2019). How inhomogeneous zipping increases the force output of Peano-HASEL actuators. Extreme Mechanics Letters, 31, 100542. https://doi.org/10.1016/j.eml.2019.100542
    2. Luo, K., Rothemund, P., Whitesides, G. M., & Suo, Z. (2019). Soft kink valves. Journal of the Mechanics and Physics of Solids, 131, 230–239. https://doi.org/10.1016/j.jmps.2019.07.008
    3. Kellaris, N., Venkata, V. G., Rothemund, P., & Keplinger, C. (2019). An analytical model for the design of Peano-HASEL actuators with drastically improved performance. Extreme Mechanics Letters, 29, 100449. https://doi.org/10.1016/j.eml.2019.100449
    4. 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
    5. 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
    6. 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
    7. Wang, X., Mitchell, S. K., Rumley, E. H., Rothemund, P., & Keplinger, C. (2019). High‐Strain Peano‐HASEL Actuators. Advanced Functional Materials, 30, Article 7. https://doi.org/10.1002/adfm.201908821
    8. Preston, D. J., Jiang, H. J., Sanchez, V., Rothemund, P., Rawson, J., Nemitz, M. P., Lee, W.-K., Suo, Z., Walsh, C. J., & Whitesides, G. M. (2019). A soft ring oscillator. Science Robotics, 4, Article 31. https://doi.org/10.1126/scirobotics.aaw5496
    9. Preston, D. J., Rothemund, P., Jiang, H. J., Nemitz, M. P., Rawson, J., Suo, Z., & Whitesides, G. M. (2019). Digital logic for soft devices. Proceedings of the National Academy of Sciences, 116, Article 16. https://doi.org/10.1073/pnas.1820672116
    10. 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
    11. 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
    12. 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. 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
    14. 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

  9. 2018

    1. Belding, L., Baytekin, B., Baytekin, H. T., Rothemund, P., Verma, M. S., Nemiroski, A., Sameoto, D., Grzybowski, B. A., & Whitesides, G. M. (2018). Slit Tubes for Semisoft Pneumatic Actuators. Advanced Materials, 30, Article 9. https://doi.org/10.1002/adma.201704446
    2. 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
    3. 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
    4. 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
    5. 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
    6. Rothemund, P., Morelle, X. P., Jia, K., Whitesides, G. M., & Suo, Z. (2018). A Transparent Membrane for Active Noise Cancelation. Advanced Functional Materials, 28, Article 29. https://doi.org/10.1002/adfm.201800653
    7. Cafferty, B. J., Campbell, V. E., Rothemund, P., Preston, D. J., Ainla, A., Fulleringer, N., Diaz, A. C., Fuentes, A. E., Sameoto, D., Lewis, J. A., & Whitesides, G. M. (2018). Fabricating 3D Structures by Combining 2D Printing and Relaxation of Strain. Advanced Materials Technologies, 4, Article 1. https://doi.org/10.1002/admt.201800299
    8. 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
    9. 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
    10. 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
    11. Rothemund, P., Ainla, A., Belding, L., Preston, D. J., Kurihara, S., Suo, Z., & Whitesides, G. M. (2018). A soft, bistable valve for autonomous control of soft actuators. Science Robotics, 3, Article 16. https://doi.org/10.1126/scirobotics.aar7986
    12. 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
    13. 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
    14. 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
    15. 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
    16. 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
    17. 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

  10. 2017

    1. 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
    2. 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
    3. Rothemund, P., Morris Bowers, C., Suo, Z., & Whitesides, G. M. (2017). Influence of the Contact Area on the Current Density across Molecular Tunneling Junctions Measured with EGaIn Top-Electrodes. Chemistry of Materials, 30, Article 1. https://doi.org/10.1021/acs.chemmater.7b03384
    4. Baghbanzadeh, M., Bowers, C. M., Rappoport, D., Żaba, T., Yuan, L., Kang, K., Liao, K.-C., Gonidec, M., Rothemund, P., Cyganik, P., Aspuru-Guzik, A., & Whitesides, G. M. (2017). Anomalously Rapid Tunneling: Charge Transport across Self-Assembled Monolayers of Oligo(ethylene glycol). Journal of the American Chemical Society, 139, Article 22. https://doi.org/10.1021/jacs.7b02770
    5. 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
    6. 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
    7. 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
    8. 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
    9. 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
    10. 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

  11. 2016

    1. Hamedi, M. M., Campbell, V. E., Rothemund, P., Güder, F., Christodouleas, D. C., Bloch, J.-F., & Whitesides, G. M. (2016). Electrically Activated Paper Actuators. Advanced Functional Materials, 26, Article 15. https://doi.org/10.1002/adfm.201505123
    2. Illeperuma, W. R. K., Rothemund, P., Suo, Z., & Vlassak, J. J. (2016). Fire-Resistant Hydrogel-Fabric Laminates: A Simple Concept That May Save Lives. ACS Applied Materials & Interfaces, 8, Article 3. https://doi.org/10.1021/acsami.5b10538
    3. 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
    4. 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
    5. 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
    6. 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
    7. 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

  12. 2015

    1. 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
    2. 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
    3. 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
    4. 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
    5. 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
    6. 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
    7. 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
    8. 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
    9. Felt, W., & Remy, C. D. (2015). Sensing method for fiber-driven motion systems.

  13. 2014

    1. 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
    2. 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
    3. 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

  14. 2013

    1. 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
    2. Keplinger, C., Sun, J.-Y., Foo, C. C., Rothemund, P., Whitesides, G. M., & Suo, Z. (2013). Stretchable, Transparent, Ionic Conductors. Science, 341, Article 6149. https://doi.org/10.1126/science.1240228
    3. 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

  15. 2012

    1. Schmidt, A., Rothemund, P., & Mazza, E. (2012). Multiaxial deformation and failure of acrylic elastomer membranes. Sensors and Actuators A: Physical, 174, 133–138. https://doi.org/10.1016/j.sna.2011.12.004
    2. 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
    3. 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
    4. 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
    5. 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
    6. 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
    7. 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
    8. 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
    9. 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
    10. 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

  16. 2011

    1. Remy, C. D. (2011). Optimal exploitation of natural dynamics in legged locomotion. https://doi.org/10.3929/ethz-a-6665065
    2. 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
    3. 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
    4. 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
    5. 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
    6. 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

  17. 2010

    1. 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
    2. 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
    3. 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
    4. 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
    5. 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
    6. 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
    7. 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
    8. 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
    9. 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
    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

  18. 2009

    1. 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
    2. 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
    3. 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

  19. 2007

    1. 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
    2. 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. Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Vorrichtung und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns.
    4. Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Rückfahrhilfesystem und Verfahren zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns.
    5. Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Rückfahrhilfesystem und Verfahren zur Unterstützung des Fahrers eines Zugfahrzeug-Anhänger-Gespanns bei einer Rückwärtsfahrt.
    6. Remy, C. D., Schwarzhaupt, A., Spiegelberg, G., & Wirnitzer, J. (2007). Rückfahrhilfesystem zur Regelung der Rückwärtsfahrt eines Fahrzeuggespanns.

  20. 2006

    1. Remy, C. D. (2006). Integration of an adaptive ground construct model into the dynamic simulation of gait [Master Thesis].

  21. 2005

    1. Remy, C. D. (2005). Implementierung eines E/A-linearisierenden Reglers zur Steuerung der Rückwärtsfahrt eines Gliederzuges.
This image showsC. David Remy

C. David Remy

Univ.-Prof.

Professor

This image showsPhilipp Rothemund

Philipp Rothemund

Jun.-Prof.

Professor

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