Conference Papers

Mohseni. O., Gagey F., Zhao G., Seyfarth, A. & Sharbafi, M. A., How far are Pneumatic Artificial Muscles from biological muscles?. IEEE International Conference on Robotics and Automation (ICRA).

Naseri. A., Grimmer, M., Seyfarth, A. & Sharbafi, M. A., Template-based control of prosthetic feet. CYBATHLON PROSTHESIS SERIES & SYMPOSIUM ON ASSISTIVE AND WEARABLE ROBOTICS (AsWeR19)

Sharbafi, M. A., Zadravec, M., Matjačić, Z, & Seyfarth, A. A 3D Template Model for Healthy and Impaired Walking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018

Schumacher, C., Grimmer, M., Scherf, A., Zhao, G., Beckerle, P., & Seyfarth, A. A Movement Manipulator to Introduce Temporary and Local Perturbations in Human Hopping. 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, 2018

Sarmadi, A., Sharbafi, M. A., Schumacher, C., & Seyfarth, A.Force-Feedback Coordinates Stance and Balance Locomotor Subfunctions in Hopping. 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, 2018

Grimmer, M., Holgate M., Ward J., Boehler A. and Seyfarth A.. Feasibility study of transtibial amputee walking using a powered prosthetic foot. International Conference on Rehabilitation Robotics (ICORR), London, 2017, 1118-1123.

Zhao G., Sharbafi M., Vlutters M., Van Asseldonk E. and Seyfarth A.. Template model inspired leg force feedback based control can assist human walking. International Conference on Rehabilitation Robotics (ICORR), London, 2017, 473-478.

Sharbafi M. A. and Seyfarth A.. VBLA, a swing leg control approach for humans and robots. IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun (MX), 2016, 952-957.

Oehlke J., Sharbafi M. A., Beckerle P. and Seyfarth A.Template-based hopping control of a bio-inspired segmented robotic leg. 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 2016, 35-40.

Schillinger P., Kohlbrecher S., Von Stryk O.Human-robot collaborative high-level control with application to rescue robotics. IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, 2796-2802.

Seyfarth A. and Zhao G.Contributions of stance and swing leg movements to human walking dynamics. ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR, HangZhou (China), 2015, 224-231.

Romay A., Stein A., Oehler M., Stumpf A., Kohlbrecher S., von Stryk O. and Conner D. C.Open source driving controller concept for humanoid robots: Teams hector and ViGIR at 2015 DARPA robotics challenge finals. IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Seoul (South Korea), 2015, 1147-1147.

Sharbafi M. and Seyfarth A.Fmch: A new model for human-like postural control in walking. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg (Germany), 2015, 5742-5747.

Beckerle P., Wojtusch J., Seyfarth A., von Stryk O. and Rinderknecht S.Analyzing and considering inertial effects in powered lower limb prosthetic design. IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, 2015, 325-330.

Scholl P., Grabosch V., Eslamy M. and Seyfarth A.Comparison of peak power and energy requirements in different actuation concepts for active knee prosthesis. IEEE International Conference on Mechatronics and Automation (ICMA), Beijing (China), 2015, 1448-1453.

Sharbafi M. and Seyfarth A.Mimicking human walking with 5-link model using HZD controller. IEEE International Conference on Robotics and Automation (ICRA), Seattle (WA, USA), 2015, 6313-6319.

Sharbafi, M. A. K. Radkhah, O. Von Stryk and Seyfarth, A. Hopping control for the musculoskeletal bipedal robot: BioBiped. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 Sep 2014, Chicago, USA.

A. Mohammadi Nejad Rashty, Sharbafi, M. A. and Seyfarth, A. SLIP with swing leg augmentation as a model for running. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 Sep 2014, Chicago, USA.

Sharbafi, M. A. and Seyfarth, A. Stable running by leg force-modulated hip stiffness. IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob 2014), 12-15 August 2014, Sao Paolo, Brazil.

Poggensee, K. and Sharbafi, M. A. and Seyfarth, A. Characterizing Swing-Leg Retraction in Human Locomotion. 17th International Conference on Climbing and Walking Robots (Clawar 2014), 21-23 July 2014, Poznan, Poland.

Schültje, F. and Beckerle, P. and Grimmer, M. and Wojtusch, J. and Rinderknecht, S. Comparison of Trajectory Generation Methods for a Human-Robot Interface based on Motion Tracking in the Int2Bot. 23rd IEEE International Symposium on Robot and Human Interactive Communication, (ROMAN), 2014.

Eslamy M., Grimmer, M. and Seyfarth A. Adding passive biarticular spring to active mono-articular foot prosthesis: Effects on power and energy requirement. 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid (ES), 2014, 677-684.

Lakatos D., Rode C., Seyfarth A. and Albu-Schäffer, A. Design and control of compliantly actuated bipedal running robots: Concepts to exploit natural system dynamics. 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid (ES), 2014, 930-937.

Sharbafi, M. A. and Nili Ahmadabadi, M. and Yazdanpanah, M. J. and Mohammadinejad, A. and Seyfarth, A. Compliant hip function simplifies control for hopping and running. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 3-8 Nov 2013, Tokyo, Japan.

Eslamy, M. and Grimmer, M. and Seyfarth, A. Does it pay to have a damper in a powered ankle prosthesis? A Power-Energy Perspective. IEEE International Conference on Rehabilitation Robotics (ICORR), 2013.

Grimmer, M. and Eslamy, M. and Seyfarth, A.The PAKO Project - a Powered Ankle-Knee Orthoprosthesis as a testbed for muscular structure and control in human locomotion. Hardware Presentation Both including Poster, IEEE International Conference on Robotics and Automation (ICRA), 2013. Poster ICRA 2013

Sharbafi, M. A. and Maufroy, C. and Maus, H-M and Seyfarth, A and Nili Ahmadabadi, M. and Yazdanpanah, M. J. Controllers for Robust Hopping with Upright Trunk based on the Virtual Pendulum Concept. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), 2012, Vilamoura, Portugal.

Eslamy, M. and Grimmer, M. and Seyfarth, A. Effects of Unidirectional Parallel Springs on Required Peak Power and Energy in Powered Prosthetic Ankles: Comparison between Different Active Actuation Concepts. IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012.

Grimmer, M. and Eslamy, M. and Gliech, S. and Seyfarth, A. A Comparison of Parallel-and Series Elastic Elements in an actuator for Mimicking Human Ankle Joint in Walking and Running. IEEE International Conference on Robotics and Automation (ICRA), 2012.

Grimmer, M. and Seyfarth A. Stiffness Adjustment of a Series Elastic Actuator in a Knee Prosthesis for Walking and Running: The Trade-off between Energy and Peak Power Optimization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.

Grimmer, M. and Seyfarth, A. Stiffness adjustment of a Series Elastic Actuator in an ankle-foot prosthesis for walking and running: The trade-off between energy and peak power optimization. IEEE International Conference on Robotics and Automation (ICRA), 2011.

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

Kalveram KT, Haeufle D, Grimmer S, Seyfarth A. Energy management that generates hopping. Comparison of virtual, robotic and human bouncing, Proceedings of International Conference on Simulation, Modeling and Programming for Autonomous Robots 2010 Workshops, Nov 15-16, Darmstadt, Germany: 147-156, 2010. ISBN: 978-3-00-032863-3

Maufroy C, Maus HM, Radkhah K, Scholz D, Seyfarth A, von Stryk O. First results for the BioBiped1 robot designed towards human-like walking and running, Proceedings of International Conference on Simulation, Modeling and Programming for Autonomous Robots 2010 Workshops, Nov 15-16, Darmstadt, Germany: 157-160, 2010. ISBN: 978-3-00-032863-3

Peuker F, Seyfarth A. Adjusting Legs for Stable Running in Three Dimensions, 6th World Congress of Biomechanics, Aug 1-8, Singapore, 2010. In: IFMBE Proceedings, Lim CT, Goh JCH (Eds.) Springer, 31(1): 3-6, 2010. DOI: 10.1007/978-3-642-14515-5_1

Radkhah K, Maus HM, Scholz D, Seyfarth A, von Stryk O. Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs, 41st International Symposium on Robotics (ISR)/ 6th German Conference on Robotics (ROBOTIK), June 7-9, Munich, Germany: 696-703, 2010.

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

Kalveram KT, Seyfarth A. Learning the Inverse Dynamics of a Robot Arm by Auto-Imitation, International Multi-Conference on Complexity, Informatics and Cybernetics: IMCIC 2010, April 6-9, Orlando, Florida, 2010.

Renjewski D, Seyfarth A, Manoonpong P, Wörgötter F. The development of a biomechanical leg system and its neural control, 2009 IEEE International Conference on Robotics and Biomimetics, Dec 18-22, Guilin, China: 1894-1899, 2009. DOI:10.1109/ROBIO.2009.5420535

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

Peter S, Grimmer S, Lipfert SW, Seyfarth A. Variable Joint Elasticities in Running, Autonome Mobile Systeme 2009, Dillmann R, Beyerer J, Stiller C, Zöllner JM, Gindele T (Eds.) Springer: 129-139, 2009. DOI:10.1007/978-3-642-10284-4_17

Maykranz D, Grimmer S, Lipfert SW, Seyfarth A. Foot function in spring mass running, Autonome Mobile Systeme 2009, Dillmann R, Beyerer J, Stiller C, Zöllner JM, Gindele T (Eds.) Springer: 81-88, 2009. DOI:10.1007/978-3-642-10284-4_11

Maus HM, Rummel J, Seyfarth A. Stable Upright Walking and Running using a simple Pendulum based Control Scheme, Advances in Mobile Robotics: Proc. of 11th CLAWAR, Marques L, Almeida A, Tokhi MO, Virk GS (Eds.), World Scientific: 623-629, 2008.

Renjewski D, Seyfarth A, Manoonpong P, Woergoetter F. From Biomechanical Concepts Towards Fast And Robust Robots, Advances in Mobile Robotics: Proc. of 11th CLAWAR, Marques L, Almeida A, Tokhi MO, Virk GS (Eds.), World Scientific: 630-637, 2008.

Kalveram KT, Haeufle D, Seyfarth A. From Hopping to Walking: How the Biped Jena-Walker can learn from the Single-Leg Marco-Hopper, Advances in Mobile Robotics: Proc. of 11th CLAWAR, Marques L, Almeida A, Tokhi MO, Virk GS (Eds.), World Scientific: 638-645, 2008.

Rummel J, Iida F, Smith JA, Seyfarth A. Enlarging Regions of Stable Running with Segmented Legs, IEEE International Conference on Robotics and Automation (ICRA), May 19-23, Pasadena, California, 367-372, 2008. DOI:10.1109/ROBOT.2008.4543235

Smith JA, Seyfarth A. Patient-Adaptable Biomedical Devices - Benefits and Barriers for Granting Patients More Control, BIODEVICES (1), January 28-31, Funchal, Madeira, Portugal: 245-248, 2008.

Iida F, Pfeifer R, Seyfarth A. AI in Locomotion: Challenges and Perspectives of Underactuated Robots. Lecture Notes in Computer Science: 50 Years of Artificial Intelligence, Lungarella M, Iida F, Bongard J, Pfeifer R. (Eds.) Springer: 134-143, 2007. DOI:10.1007/978-3-540-77296-5_13

Vimiero C, Andrada E, Lipfert S, Witte H, Pinotti M. Calculation of the cardan angles at the hip joint using the ISB recommendation to define the joint coordinate system. International Congress of the Brazilian Society of Mechanical Engineering (COBEM), November 5-9, Brasilia, DF, Brazil, 2007.

Seyfarth A, Kalveram KT, Geyer H. Simulating muscle-reflex dynamics in a simple hopping robot. Autonome Mobile Systeme 2007, Berns K, Luksch T (Eds.), Springer: 294-300, 2007. DOI:10.1007/978-3-540-74764-2_45

Smith JA, Seyfarth A. Exploring toe walking in a bipedal robot. Autonome Mobile Systeme 2007, Berns K, Luksch T (Eds.), Springer: 287-293, 2007. DOI:10.1007/978-3-540-74764-2_44

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

Kalveram KT, Seyfarth A. Learning the inverse model of the dynamics of a robot leg by auto-imitation. Autonome Mobile Systeme 2007, Berns K, Luksch T (Eds.), Springer: 308-314, 2007. DOI:10.1007/978-3-540-74764-2_47. Poster

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, 2007. DOI:10.1109/ROBOT.2007.364088

Seyfarth A, Geyer H, Blickhan, R, Lipfert S, Rummel J, Minekawa Y, Iida F. Running and walking with compliant legs. Fast Motions in Biomechanics and Robotics - Optimization and Feedback Control, Diehl M, Mombaur K (eds.). Springer Verlag, Berlin Heidelberg: 383-402. 2006. DOI:10.1007/978-3-540-36119-0_18

Seyfarth A, Stelzer M, Iida F, Karguth A, von Stryk O. Towards Bipedal Jogging as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs. Climbing and Walking Robots, Brussels, Belgium, 2006.

Dittrich E, Geyer H, Karguth A, Seyfarth A. Obstacle avoidance in a simple hopping robot. Climbing and Walking Robots, Brussels, Belgium, 2006.

Iida F, Minekawa Y, Rummel J, Seyfarth A. Toward a human-like biped robot with compliant legs. Intelligent Autonomous Systems 9, Arai T, Pfeifer R, Balch T, Yokoi H (eds.). IOS Press: 820-827, 2006.

Rummel J, Iida F, Seyfarth A. One-legged locomotion with a compliant passive joint. Intelligent Autonomous Systems 9, Arai T, Pfeifer R, Balch T, Yokoi H (eds.). IOS Press: 566-573, 2006.

Iida F. Cheap design approach to adaptive behavior: Walking and sensing through body dynamics. Adaptive Motion of Animals and Machines, Ilmenau, Germany, 2005.

Blickhan R, Wagner H, Seyfarth A. Brain or muscles? Recent Research Developments in Biomechanics, 1: 215-245, 2003.

Geyer H, Blickhan R, Seyfarth A. Natural dynamics of spring-like running: emergence of selfstability. Climbing and Walking Robots, Bidaud P, Amar FB (eds.). Engineering Publishing Ltd., Bury St Edmunds and London, UK, 2002.

Seyfarth A, Geyer H. Natural control of spring-like running – optimized self-stabilization. Climbing and Walking Robots, Bidaud P, Amar FB (eds.). Engineering Publishing Ltd., Bury St Edmunds and London, UK, 2002.

Blickhan R, Seyfarth A, Wagner H, Friedrichs A, Guenther M, Maier KD. Robust behaviour of the human leg. International Symposium Adaptive Motion of Animals and Machines, 2000.

Seyfarth A, Friedrichs A, Blickhan R. Evaluation of jumping techniques using mechanical models. In: Biona Report 13 - Motion Systems, Blickhan R, Wisser A, Nachtigall W (eds.). Fischer Verlag: 101-102, 1998