Hartmut Geyer, Professor
Robotics Institute | Carnegie Mellon University
(Click names for personal pages where available)
Atharva Ramdas | Mechanical Engineering
Research area: Powered lower-limb assistive robot control.
Vyvaswath Kalva | Mechanical Engineering
Research area: Neuromuscular learning of locomotion behaviors.
Fawaz Mallick | Mechanical Engineering
Research Area: Human intent prediction.
Haosen Xing, PhD 2025, Mechanical Engineering
Continuous and Adaptive Lower-Limb Prosthesis Control Through Integration of Intent and Environmental Information [thesis]
Publications:
Environment-aware and human-cooperative swing control for lower-limb prostheses in diverse obstacle scenarios. H Xing, H Ma, S Zhang, H Geyer. arXiv preprint arXiv:2507.01111.
Comprehensive swing leg motion predictor for steady and transient walking conditions. H Xing, S Kumar, H Geyer. International Conference on Robotics and Automation (ICRA), 5686-5692, 2022.
Omar Refy, PhD 2024, Physics (co-advised with Douglas Weber, CMU Mechanical Engineering)
On the Modulation of the Short Latency Reflex in the Locomoting Human [thesis]
Publications:
Spinal cord stimulation improves feedback control of reaching post-stroke. O Refy, L Borda, J Hsu, E Carranza, N Verma, R de Freitas, E Sorensen, A Boos, M Powell, L Fisher, P Gerszten, E Pirodini, JW Krakauer, GF Wittenberg, H Geyer, M Capogrosso, D J Weber. medRxiv, 2025.10. 29.25338778.
Changes in gait asymmetry may be caused by adaptation of spinal reflexes. O Refy, O Mo, DJ Weber, H Geyer. Journal of Neurophysiology 133(4): 1208-1215, 2025.
Dynamic spinal reflex adaptation during locomotor adaptation. O Refy, B Blanchard, A Miller-Peterson, AN Dalrymple, EH Bedoy, H Geyer, DJ Weber. Journal of Neurophysiology 130(4): 1008-1014, 2023.
Michelle (Karabin) Harter, PhD 2024, University of Pittsburgh Bioengineering (primary advisor: Mark Redfern, University of Pittsburgh)
Computational Modeling of Stability in Locomotion and the Effects of Vestibular Loss [thesis]
Related publications:
Modelling strategies supplemental to foot placement for frontal-plane stability in walking. Journal of the Royal Society Interface. MJ Harter, MS Redfern, PJ Sparto, H Geyer. 21(218), p.20240191, 2024.
Balance strategies for recovery from perturbed overground walking. MJ Karabin, RW Smith, PJ Sparto, JM Furman, MS Redfern. Journal of biomechanics. 2024 Jan 1;162:111898.
Ashwin Khadke, PhD 2024, Robotics Institute
Policy Decomposition: A Framework for Discovery of Control Hierarchies for Efficient Policy Optimization with Suboptimality Estimates [thesis]
Related publications:
Effective search for control hierarchies within the policy decomposition framework. A Khadke, H Geyer. IEEE Transactions on Robotics, 9(12): 11114 -11121, 2024.
Sparsity inducing system representations for policy decompositions. A Khadke, H Geyer. IEEE 61st Conference on Decision and Control (CDC), 6824-6829, 2022.
Policy decomposition: Approximate optimal control with suboptimality estimates. A Khadke, H Geyer. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021.
Nitish Thatte, PhD 2019, Robotics Institute
Design and Evaluation of Robust Control Methods for Robotic Transfemoral Prostheses [thesis]
Related publications:
Comparison of balance recovery among current control strategies for robotic leg prostheses. N Thatte, H Geyer. Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics (WeRob2020) and of WearRAcon Europe, 13–16, 2022.
Robust and adaptive lower limb prosthesis stance control via extended Kalman filter-based gait phase estimation. N Thatte, T Shah, H Geyer. IEEE Robotics and Automation Letters 4(4): 3129-3136, 2019.
Online learning for proactive obstacle avoidance with powered transfemoral prostheses. M Gordon, N Thatte, H Geyer. IEEE International Conference on Robotics and Automation (ICRA), 7920-7925, 2019.
Real-time reactive trip avoidance for powered transfemoral prostheses. N Thatte, N Srinivasan, H Geyer. Robotics Systems and Sciences (RSS), Freiburg, Germany, 2019.
A method for online optimization of lower limb assistive devices with high dimensional parameter spaces. N Thatte, H Duan, H Geyer. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1-6, 2018.
A sample-efficient black-box optimizer to train policies for human-in-the-loop systems with user preferences. N Thatte, H Duan, H Geyer. Robotics and Automation Letters 2(2): 993-1000, 2017.
Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery. N Thatte, H Geyer. IEEE Transactions on Biomedical Engineering 63(5): 904-913, 2016.
Toward balance recovery with active leg prostheses using neuromuscular model control. H Geyer, N Thatte, H Duan. In Converging Clinical and Engineering Research on Neurorehabilitation II. Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), Segovia, Spain, 649-652, 2016.
William Martin, PhD 2019, Robotics Institute
Optimal Control of Compliant Bipedal Gaits and Their Implementation on Robot Hardware [thesis]
Related publications:
Bayesian optimization using domain knowledge on the ATRIAS biped. A Rai, R Antonova, S Song, W Martin, H Geyer, C Atkeson. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1771-1778, 2018.
Dynamic bipedal locomotion over stochastic discrete terrain. Q Nguyen, A Agrawal, W Martin, H Geyer, K Sreenath. The International Journal of Robotics Research 37(13-14): 1537-1553, 2018.
Walking and running with passive compliance: Lessons from engineering a live demonstration of the ATRIAS biped. C Hubicki, A Abate, P Clary, S Rezazadeh, M Jones, A Peekema, J Van Why, R Domres, A Wu, W Martin, H Geyer, J Hurst. IEEE Robotics and Automation Magazine 25(3): 23-39, 2018.
Dynamic walking on randomly-varying discrete terrain with one-step preview. Q Nguyen, A Agrawal, X Da, WC Martin, H Geyer, JW Grizzle, K Sreenath. Robotics: Science and Systems, Cambridge, MA, 2017.
Experimental evaluation of deadbeat running on the ATRIAS biped. W Martin, A Wu, H Geyer. IEEE Robotics and Automation Letters 2(2): 1085-1092, 2017.
Robust spring mass model running for a physical bipedal robot. W Martin, A Wu, H Geyer. IEEE International Conference on Robotics and Automation, Seattle, WA, 6307-6312, 2015.
Wei Sin Ang, PhD 2017, NTU-CMU program (co-advisor I-Ming Chen, NTU Singapore)
A Biomechanical Model of Human Upper Limb for Objective Stroke Rehabilitation Assessment [thesis]
Related publications:
Objective assessment of spasticity with a method based on a human upper limb model. WS Ang, H Geyer, I Cheng. IEEE Transactions on Neural Systems & Rehabilitation Engineering 26(7): 1414-1423, 2018.
Seungmoon Song, PhD 2017, Robotics Institute
The Development, Evaluation and Applications of a Neuromechanical Control Model of Human Locomotion [thesis]
Related publications:
Predictive neuromechanical simulations indicate why walking performance declines with aging. S Song, H Geyer. Journal of Physiology 596(7): 1199-1210, 2018.
Bayesian optimization using domain knowledge on the ATRIAS biped. A Rai, R Antonova, S Song, W Martin, H Geyer, C Atkeson. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1771-1778, 2018.
Evaluation of a neuromechanical walking control model using disturbance experiments. S Song, H Geyer. Frontiers in Computational Neuroscience 11:15, 2017.
A neural circuitry that emphasizes spinal feedbacks generates diverse behaviors of human locomotion. S Song, H Geyer. Journal of Physiology 593(16): 3493-3511, 2015.
Regulating speed in a neuromuscular human running model. S Song, H Geyer. IEEE-RAS 15th International Conference on Humanoid Robots, Seoul, Korea, 217-222, 2015.
Toward a virtual neuromuscular control for robust walking in bipedal robots. Z Batts, S Song, H Geyer. IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, 6318-6323, 2015.
Generalization of a muscle-reflex control model to 3D walking. S Song, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 7463-7466, 2013.
Integration of an adaptive swing control into a neuromuscular human walking model. S Song, R Desai, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 4915-4918, 2013.
The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking. S Song, C LaMontagna, SH Collins, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 3179-3182, 2013.
Regulating speed and generating large speed transitions in a neuromuscular human walking model. S Song, H Geyer. Proceedings of the IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, 511-516, 2012.
The energetic cost of adaptive feet in walking. S Song, H Geyer. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand, 1597-1602, 2011.
Albert Wu, PhD 2017, Robotics Institute
The Theory, Implementation, and Evaluation of Spring Mass Running on ATRIAS, a Bipedal Robot [thesis]
Related publications:
Touch-down condition control for the bipedal spring-mass model in walking. H Vejdani, A Wu, H Geyer, JW Hurst. Bioinspiration & Biomimetics 20(1): 016020, 2024.
Walking and running with passive compliance: Lessons from engineering a live demonstration of the ATRIAS biped. C Hubicki, A Abate, P Clary, S Rezazadeh, M Jones, A Peekema, J Van Why, R Domres, A Wu, W Martin, H Geyer, J Hurst. IEEE Robotics and Automation Magazine 25(3): 23-39, 2018.
Experimental evaluation of deadbeat running on the ATRIAS biped. W Martin, A Wu, H Geyer. IEEE Robotics and Automation Letters 2(2): 1085-1092, 2017.
Touch-down angle control for spring-mass walking. H Vejdani, A Wu, H Geyer, J Hurst. IEEE International Conference on Robotics and Automation, Seattle, WA, 5101-5106, 2015.
Robust spring mass model running for a physical bipedal robot. W Martin, A Wu, H Geyer. IEEE International Conference on Robotics and Automation, Seattle, WA, 6307-6312, 2015.
Highly robust running of articulated bipeds in unobserved terrain. A Wu, H Geyer. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2558-2565, 2014.
The 3D spring-mass model reveals a time-based deadbeat control for highly robust running and steering in uncertain environments. A Wu, H Geyer. IEEE Transactions on Robotics 29(5): 1114-1124, 2013.
Alexander Schepelman, PhD 2016, Robotics Institute
Evaluation of Decentralized Reactive Swing-Leg Controllers on Powered Robotic Legs [thesis]
Related publications:
Evaluation of decentralized reactive swing-leg control on a powered robotic leg. A Schepelmann, J Austin, H Geyer. IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, 381-386, 2015.
Control and evaluation of series elastic actuators with nonlinear rubber springs. J Austin, A Schepelmann, H Geyer. IEEE International Conference on Intelligent Robots and Systems. Hamburg, Germany, 6563-6568, 2015.
Compact nonlinear springs with user defined torque-deflection profiles for series elastic actuators. A Schepelmann, K Geberth, H Geyer. IEEE International Conference on Robotics and Automation, Hong Kong, China, 3411-3416, 2014.
Development of a testbed for robotic neuromuscular controllers. A Schepelmann, MD Taylor, H Geyer. Proceedings of Robotics: Science and Systems VIII, Sydney, Australia, 385-392, 2012.
Haochen Ren, MS 2024, Mechanical Engineering
Force-based Speed Adaptive Treadmill [thesis]
Yuyao Shi, MS 2023, Robotics Institute
A Learning Approach for Acquiring Multiple Locomotion Behaviors Simultaneously at the Spinal Cord [thesis]
Haoran Ma, MS 2023, Mechanical Engineering
Towards Integration of Environmental Awareness into the Control of a Lower Limb Robotic Prosthesis [thesis]
Related publications:
Environment-aware and human-cooperative swing control for lower-limb prostheses in diverse obstacle scenarios. H Xing, H Ma, S Zhang, H Geyer. arXiv preprint arXiv:2507.01111.
Aditya Sripada, MS 2021, Robotics Institute
Turning Behavior of Running Systems Induced by Leg Placement [thesis]
Manan Shah, MS 2021, Robotics Institute
3D SLAM for Powered Lower Limb Prostheses [thesis]
Bolun Dai, MS 2019, Mechanical Engineering
Adaptive Identification of Legged Robotic Kinematic Structure [thesis]
Timothy Kyung, MS 2019, Mechanical Engineering
Yigit Yakupoglu, MS 2019, Mechanical Engineering
Center of Mass Planning Using Dynamic Manipulability Ellipsoids [thesis]
Tianyu Li, MS 2019, Mechanical Engineering
Using Deep Reinforcement Learning to Learn High-Level Policies on the ATRIAS Biped [thesis]
Related publications:
Using deep reinforcement learning to learn high-level policies on the ATRIAS biped. T Li, H Geyer, CG Atkeson, A Rai. IEEE International Conference on Robotics and Automation (ICRA), 263-269, 2019.
Lin Song, MS 2019, Mechanical Engineering
Helei Duan, MS 2017, Mechanical Engineering
Design and Control of an Ankle-Foot Unit of a Powered Transfemoral Prosthesis [thesis]
Related publications:
A method for online optimization of lower limb assistive devices with high dimensional parameter spaces. N Thatte, H Duan, H Geyer. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1-6, 2018.
A sample-efficient black-box optimizer to train policies for human-in-the-loop systems with user preferences. N Thatte, H Duan, H Geyer. Robotics and Automation Letters 2(2): 993-1000, 2017.
Toward balance recovery with active leg prostheses using neuromuscular model control. H Geyer, N Thatte, H Duan. In Converging Clinical and Engineering Research on Neurorehabilitation II. Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), Segovia, Spain, 649-652, 2016.
Junlin Wang, MS 2017, Mechanical Engineering
Model Predictive Control in Humanoid Balancing [thesis]
Yin Zhong, MS 2016, Robotics Institute
Evaluation of a Decentralized Stance-Leg Controller on a Powered Robotic Leg [thesis]
Zachary Batts, MS 2015, Robotics Institute
Toward a Virtual Neuromuscular Control for Robust Walking in Bipedal Robots [thesis]
Related publication:
Toward a virtual neuromuscular control for robust walking in bipedal robots. Z Batts, S Song, H Geyer. IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, 6318-6323, 2015.
Jessica Austin, MS 2014, Robotics Institute
Control and Evaluation of Series Elastic Actuators with Nonlinear Rubber Springs [thesis]
Related publications:
Control and evaluation of series elastic actuators with nonlinear rubber springs. J Austin, A Schepelmann, H Geyer. IEEE International Conference on Intelligent Robots and Systems. Hamburg, Germany, 6563-6568, 2015.
Evaluation of decentralized reactive swing-leg control on a powered robotic leg. A Schepelmann, J Austin, H Geyer. IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, 381-386, 2015.
Ashritha Durvasula, MS 2013, Biomedical Engineering
Standing Balance Control in Humans [thesis]
Kathryn (Geberth) Lybarger, MS 2013, Robotics Institute
Towards Improving Torque Following in Robotic Neuromuscular Leg Series Elastic Actuators [thesis]
Related publication:
Compact nonlinear springs with user defined torque-deflection profiles for series elastic actuators. A Schepelmann, K Geberth, H Geyer. IEEE International Conference on Robotics and Automation, Hong Kong, China, 3411-3416, 2014.
Xiaobin Yu, MS 2013, Mechanical Engineering
Towards the Implementation of BLIPM Control in Bipedal Walking Robots [thesis]
Ruta Desai, MS 2012, Robotics Institute
Robust Swing Leg Placement Under Large Disturbances [thesis]
Related publications:
Virtual model control for dynamic lateral balance. R Desai, H Geyer, J Hodgins. IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 856-861, 2014.
Integration of an adaptive swing control into a neuromuscular human walking model. S Song, R Desai, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 4915-4918, 2013.
Muscle-reflex control of robust swing leg placement. R Desai, H Geyer. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2169-2174, 2013.
Robust swing leg placement under large disturbances. R Desai, H Geyer. IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, 265-270, 2012.
Michael D Taylor, MS 2011, Robotics Institute
A Compact Series Elastic Actuator for Bipeds with Human-Like Dynamic Performance [thesis]
Related publications:
Development of a testbed for robotic neuromuscular controllers. A Schepelmann, MD Taylor, H Geyer. Proceedings of Robotics: Science and Systems VIII, Sydney, Australia, 385-392, 2012.
A clutched parallel elastic actuator concept: Towards energy efficient powered legs in prosthetics and robotics. DFB Haeufle, MD Taylor, S Schmitt, H Geyer. Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 1614-1619, 2012.
Federico Parietti, MS 2011, Politecnico Di Milano (primary advisor: Federico Cheli, Politecnico Di Milano)
A Reactive Leg Placement Strategy for Balance Control in Walking [thesis]
Related publications:
Reactive balance control in walking based on a bipedal linear inverted pendulum model. F Parietti, H Geyer. Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, 5442-5447, 2011.