Helena of Semur (1016-1109) (1016–1109) Parents Dalmas I of Semur Children Henry of Burgundy Simon de Bourgogne Constance of Burgundy Robert de Bourgogne Hugues de Bourgogne Hildegarde of Burgundy Siblings Geoffroy II de Sémur, Sire de Semur Hugh of Cluny Partners Robert I of Burgundy