Jürgen Rummel

• Locomotion with compliant legs
• Leg Design and Control
• Stability in Hopping, Running and Walking

Journal Publications

• Merker A, Rummel J, Seyfarth A. Stable walking with asymmetric legs. Bioinspiration & Biomimetics 6(4): 045004 (13pp), 2011. DOI: 10.1088/1748-3182/6/4/045004
• Rummel J, Blum Y, Seyfarth A. Robust and efficient walking with spring-like legs. Bioinspiration & Biomimetics 5(4): 046004 (13pp), 2010. DOI: 10.1088/1748-3182/5/4/046004
• Maus HM, Lipfert SW, Gross M, Rummel J, Seyfarth A. Upright human gait did not provide a major mechanical challenge for our ancestors. Nature Communications 1(6): 70 (6pp), 2010. DOI: 10.1038/ncomms1073
• Blum Y, Lipfert SW, Rummel J, Seyfarth A. Swing Leg Control in Human Running. Bioinspiration & Biomimetics 5(2): 026006 (11pp), 2010. DOI: 10.1088/1748-3182/5/2/026006
• Iida F, Minekawa Y, Rummel J, Seyfarth A. Toward a human-like biped robot with compliant legs. Robotics and Autonomous Systems 57(2): 137-144, 2009. DOI: 10.1016/j.robot.2007.12.001
• Rummel J, Seyfarth A. Stable running with segmented legs. International Journal of Robotics Research 27(8): 919-934, 2008. DOI: 10.1177/0278364908095136
• Iida, F, Rummel J, Seyfarth A. Bipedal Walking and Running with Spring-Like Biarticular Muscles. Journal of Biomechanics 41(3): 656-667, 2008. DOI: 10.1016/j.jbiomech.2007.09.033

Peer-reviewed Conference Papers

• Rummel J, Seyfarth A. Passive stabilization of the trunk in walking, Proceedings of International Conference on Simulation, Modeling and Programming for Autonomous Robots 2010 Workshops, Nov 15-16, Darmstadt, Germany: 127-136, 2010. ISBN: 978-3-00-032863-3
• Rummel J, Blum Y, Maus HM, Rode C, Seyfarth A. Stable and robust walking with compliant legs. IEEE International Conference on Robotics and Automation (ICRA), May 3-8, Anchorage, Alaska: 5250-5255, 2010. DOI: 10.1109/ROBOT.2010.5509500
• Rummel J, Blum Y, Seyfarth A. From walking to running. Autonome Mobile Systeme 2009, Dillmann R, Beyerer J, Stiller C, Zöllner JM, Gindele T (Eds.) Springer: 89-96, 2009. DOI: 10.1007/978-3-642-10284-4_12
• Maus HM, Rummel J, Seyfarth A. Stable Upright Walking and Running using a simple Pendulum based Control Scheme. 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Sep 08-10, Coimbra, Portugal, 2008. DOI: 10.1142/9789812835772_0075
• Rummel J, Iida F, Smith JA, Seyfarth A. Enlarging regions of stable running with segmented legs. IEEE International Conference on Robotics and Automation (ICRA), Pasadena, California, 367-372, 2008. DOI: 10.1109/ROBOT.2008.4543235
• Blum Y, Rummel J, Seyfarth A. Advanced swing leg control for stable locomotion. Autonome Mobile Systeme 2007, Berns K, Luksch T (Eds.), Springer: 301-307, 2007. DOI: 10.1007/978-3-540-74764-2_46
• Iida F, Rummel J, Seyfarth A. Bipedal walking and running with compliant legs, IEEE International Conference on Robotics and Automation (ICRA), April 10-14, Roma, Italy, 3970-3975, 2007. DOI: 10.1109/ROBOT.2007.364088
• Seyfarth A, Geyer H, Lipfert S, Rummel J, Minekawa Y, Iida F. Running and walking with compliant legs, Fast Motions in Biomechanics and Robotics - Optimization and Feedback Control, Springer Verlag, Berlin Heidelberg, 383-402. 2006. DOI: 10.1007/978-3-540-36119-0_18
• Rummel J, Iida F, Seyfarth A. One-legged locomotion with a compliant passive joint, Proceedings of the 9th International Conference on Intelligent Autonomous Systems (IAS-9), Tokyo, Japan, 566-573, 2006
• Iida F, Minekawa Y, Rummel J, Seyfarth A. Toward a Human-like Biped Robot with Compliant Legs, Proceedings of the 9th International Conference on Intelligent Autonomous Systems (IAS-9), Tokyo, Japan, 820-827, 2006

Abstracts and Posters

• Rummel J, Seyfarth A. Walking with compliant legs: Robustness or Efficiency. Proceedings of 16th US National Congress of Theoretical and Applied Mechanics (USNCTAM), June 27 - July 2, State College, Pennsylvania, 2010. Paper number: USNCTAM2010-857
• Maus HM, Rummel J, Lipfert SW, Seyfarth A. Stabilizing the Trunk in Human Walking. XXII Congress of the International Society of Biomechanics, July 05-09, Cape Town, South Africa, 2009
• Gross M, Rummel J. Swing-leg strategies for stable dog trotting. Annual Main Meeting of the Society for Experimental Biology, June 28 - July 01, Glasgow, Scotland, 2009. In: Comparative Biochemistry and Physiology A, Molecular & Integrative Physiology 153 (2, Suppl. 1): S120 (2009). DOI: DOI 10.1016/j.cbpa.2009.04.191
• Maus HM, Rummel J, Lipfert SW, Seyfarth A. Postural Stability in Human Walking. Dynamic Walking, June 06-11, Vancouver, Canada, 2009
• Gross M, Rummel J, Seyfarth A. How to achieve stable trotting? Dynamic Walking, June 06-11, Vancouver, Canada, 2009
• Maus HM, Rummel J, Lipfert SW, Seyfarth A. Über den aufrechten Gang des Menschen. Jahrestagung der Deutschen Gesellschaft für Biomechanik, May 14-16, Münster, Germany, 2009
• Rummel J, Iida F, Smith JA, Seyfarth A. Enlarging regions of stable running with segmented legs. Dynamic Walking, May 26-29, Delft, Netherlands, 2008
• Rummel J, Seyfarth A. Self-stable running with segmented legs, XXIth Congress of the International Society of Biomechanics, July 1-5 Taipei, Taiwan, 2007, In: Journal of Biomechanics 40 (Suppl. 2), S384, 2007
• Rummel J, Lipfert S, Seyfarth A. Knee joint stiffness for self-stable running, XXIth Congress of the International Society of Biomechanics, July 1-5 Taipei, Taiwan, 2007, In: Journal of Biomechanics 40 (Suppl. 2), S590, 2007
• Lipfert S, Dittrich E, Rummel J, Seyfarth A. A strategy for walk-run-transitions at constant speeds, Vth World Congress of Biomechanics, July 29 - August 4, Munich, Germany, 2006
• Seyfarth A, Iida F, Rummel J, Geyer H. Leg design for stable walking and running, Abstracts of the 5th World Congress of Biomechanics, July 29 - August 4, Munich, Germany. In: Journal of Biomechanics 39 (Suppl. 1), 114, 2006
• Rummel J, Iida F, Dittrich E, Seyfarth A. Adaptive mechanics: compliant legged locomotion, 50th Anniversary Summit of Artificial Intelligence, July 9-15, Ascona, Switzerland, 2006
• Iida F, Minekawa Y, Rummel J, Seyfarth A. Toward a human like walking robot with compliant legs, 3rd International Symposium on Adaptive Motion in Animals and Machines, September 25-30, Ilmenau, Germany, 2005
• Rummel J, Seyfarth A, Iida F. Adjustment of mass and stiffness in a two-segmented leg, 3rd International Symposium on Adaptive Motion in Animals and Machines , September 25-30 Ilmenau, Germany, 2005
• Seyfarth A, Lipfert S, Rummel J. Hip control in locomotion, XXth Congress of the International Society of Biomechanics, July 31 - August 5 Cleveland, USA, 2005
• Rummel J, Seyfarth A, Iida F. Stable locomotion of feedforward controlled one-legged robot, XXth Congress of the International Society of Biomechanics, July 31 - August 5 Cleveland, Ohio, 2005
• Seyfarth A, Rummel J, Guenther M, Geyer H. Segment orientation and direction of locomotion, Society for Experimental Biology, July 11-15 Barcelona, Spain, 2005