Simulating Muscle-Reflex Dynamics in a Simple Hopping Robot. - André Seyfarth; Karl-Theodor Kalveram; Hartmut Geyer (AMS, 2007)

Reactive balance control in walking based on a bipedal linear inverted pendulum model. - Federico Parietti; Hartmut Geyer (ICRA, 2011)

The energetic cost of adaptive feet in walking. - Seungmoon Song; Hartmut Geyer (ROBIO, 2011)

Regulating speed and generating large speed transitions in a neuromuscular human walking model. - Seungmoon Song; Hartmut Geyer (ICRA, 2012)

Robust swing leg placement under large disturbances. - Ruta Desai; Hartmut Geyer (ROBIO, 2012)

Development of a Testbed for Robotic Neuromuscular Controllers. - Alexander Schepelmann; Hartmut Geyer; Michael Taylor (Robotics: Science and Systems, 2012)

Integration of an adaptive swing control into a neuromuscular human walking model. - Seungmoon Song; Ruta Desai; Hartmut Geyer (EMBC, 2013)

Generalization of a muscle-reflex control model to 3D walking. - Seungmoon Song; Hartmut Geyer (EMBC, 2013)

The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking. - Seungmoon Song; Christopher LaMontagna; Steven H. Collins; Hartmut Geyer (EMBC, 2013)

Muscle-reflex control of robust swing leg placement. - Ruta Desai; Hartmut Geyer (ICRA, 2013)

The 3-D Spring-Mass Model Reveals a Time-Based Deadbeat Control for Highly Robust Running and Steering in Uncertain Environments. - Albert Wu; Hartmut Geyer (IEEE Trans. Robotics, 2013)

Virtual model control for dynamic lateral balance. - Ruta Desai; Hartmut Geyer; Jessica K. Hodgins (Humanoids, 2014)

Compact nonlinear springs with user defined torque-deflection profiles for series elastic actuators. - Alexander Schepelmann; Kathryn A. Geberth; Hartmut Geyer (ICRA, 2014)

Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery. - Nitish Thatte; Hartmut Geyer (IROS, 2014)

Highly robust running of articulated bipeds in unobserved terrain. - Albert Wu; Hartmut Geyer (IROS, 2014)

Regulating speed in a neuromuscular human running model. - Seungmoon Song; Hartmut Geyer (Humanoids, 2015)

Robust spring mass model running for a physical bipedal robot. - William C. Martin; Albert Wu; Hartmut Geyer (ICRA, 2015)

Touch-down angle control for spring-mass walking. - Hamid Reza Vejdani; Albert Wu; Hartmut Geyer; Jonathan W. Hurst (ICRA, 2015)

Control and evaluation of series elastic actuators with nonlinear rubber springs. - Jessica Austin; Alexander Clifford Schepelmann; Hartmut Geyer (IROS, 2015)

Toward a virtual neuromuscular control for robust walking in bipedal robots. - Zachary Batts; Seungmoon Song; Hartmut Geyer (IROS, 2015)

Evaluation of decentralized reactive swing-leg control on a powered robotic leg. - Alexander Schepelmann; Jessica Austin; Hartmut Geyer (IROS, 2015)

Toward Balance Recovery With Leg Prostheses Using Neuromuscular Model Control. - Nitish Thatte; Hartmut Geyer (IEEE Trans. Biomed. Eng., 2016)

Dynamic Walking on Randomly-Varying Discrete Terrain with One-step Preview. - Quan Nguyen 004; Ayush Agrawal; Xingye Da; William C. Martin; Hartmut Geyer; Jessy W. Grizzle; Koushil Sreenath (Robotics: Science and Systems, 2017)

Evaluation of a Neuromechanical Walking Control Model Using Disturbance Experiments. - Seungmoon Song; Hartmut Geyer (Frontiers Comput. Neurosci., 2017)

Experimental Evaluation of Deadbeat Running on the ATRIAS Biped. - William C. Martin; Albert Wu; Hartmut Geyer (IEEE Robotics Autom. Lett., 2017)

A Sample-Efficient Black-Box Optimizer to Train Policies for Human-in-the-Loop Systems With User Preferences. - Nitish Thatte; Helei Duan; Hartmut Geyer (IEEE Robotics Autom. Lett., 2017)

A Neuro-Musculo-Skeletal Model of Human Standing Combining Muscle-Reflex Control and Virtual Model Control. - Yasuyuki Suzuki; Hartmut Geyer (EMBC, 2018)

Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped. - Akshara Rai; Rika Antonova; Seungmoon Song; William C. Martin; Hartmut Geyer; Christopher G. Atkeson (ICRA, 2018)

A Method for Online Optimization of Lower Limb Assistive Devices with High Dimensional Parameter Spaces. - Nitish Thatte; Helei Duan; Hartmut Geyer (ICRA, 2018)

The Benefit of Combining Neuronal Feedback and Feed-Forward Control for Robustness in Step Down Perturbations of Simulated Human Walking Depends on the Muscle Function. - Daniel F. B. Haeufle; Birgit Schmortte; Hartmut Geyer; Roy Müller; Syn Schmitt (Frontiers Comput. Neurosci., 2018)

An Overview on Principles for Energy Efficient Robot Locomotion. - Navvab Kashiri; Andy Abate; Sabrina J. Abram; Alin Albu-Schäffer; Patrick Clary; Monica A. Daley; Salman Faraji; Raphael Furnemont; Manolo Garabini; Hartmut Geyer; Alena M. Grabowski; Jonathan W. Hurst; et al. (Frontiers Robotics AI, 2018)

Dynamic bipedal locomotion over stochastic discrete terrain. - Quan Nguyen 004; Ayush Agrawal; William C. Martin; Hartmut Geyer; Koushil Sreenath (Int. J. Robotics Res., 2018)

Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. - Christian Hubicki; Andy Abate; Patrick Clary; Siavash Rezazadeh; Mikhail S. Jones; Andrew Peekema; Johnathan Van Why; Ryan Domres; Albert Wu; William C. Martin; Hartmut Geyer; Jonathan W. Hurst (IEEE Robotics Autom. Mag., 2018)

Online Learning for Proactive Obstacle Avoidance with Powered Transfemoral Prostheses. - Max Gordon; Nitish Thatte; Hartmut Geyer (ICRA, 2019)

Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped. - Tianyu Li; Hartmut Geyer; Christopher G. Atkeson; Akshara Rai (ICRA, 2019)

Real-Time Reactive Trip Avoidance for Powered Transfemoral Prostheses. - Nitish Thatte; Nandagopal Srinivasan; Hartmut Geyer (Robotics: Science and Systems, 2019)

Robust and Adaptive Lower Limb Prosthesis Stance Control via Extended Kalman Filter-Based Gait Phase Estimation. - Nitish Thatte; Tanvi Shah; Hartmut Geyer (IEEE Robotics Autom. Lett., 2019)

A model for the transfer of control from the brain to the spinal cord through synaptic learning. - Preeti Sar; Hartmut Geyer (J. Comput. Neurosci., 2020)

Policy Decomposition: Approximate Optimal Control with Suboptimality Estimates. - Ashwin Khadke; Hartmut Geyer (HUMANOIDS, 2021)

Sparsity Inducing System Representations for Policy Decompositions. - Ashwin Khadke; Hartmut Geyer (CDC, 2022)

Comprehensive Swing Leg Motion Predictor for Steady and Transient Walking Conditions. - Haosen Xing; Saurav Kumar; Hartmut Geyer (ICRA, 2022)

Search Methods for Policy Decompositions. - Ashwin Khadke; Hartmut Geyer (CoRR, 2022)

Sparsity Inducing Representations for Policy Decompositions. - Ashwin Khadke; Hartmut Geyer (CoRR, 2022)

Effective Search for Control Hierarchies Within the Policy Decomposition Framework. - Ashwin Khadke; Hartmut Geyer (IEEE Robotics Autom. Lett., 2024)

Environment-Aware and Human-Cooperative Swing Control for Lower-Limb Prostheses in Diverse Obstacle Scenarios. - Haosen Xing; Haoran Ma; Sijin Zhang; Hartmut Geyer (CoRR, 2025)