around Ravensburg, the original possessions of the Elder House of Welf, to his nephew Emperor Frederick I, and thus to the House of Hohenstaufen. The next duke of the Welf dynasty Henry the Lion (1129/1131–1195) recovered his father's two duchies, Saxony in 1142, Bavaria in 1156 and thus ruled vast parts of Germany. In 1168 he married Matilda (1156–1189), the daughter of Henry II of England and Eleanor of Aquitaine, and sister of Richard I of England, gaining ever more influence. His first cousin, Frederick I, Holy Roman Emperor of the Hohenstaufen dynasty, tried to get along with him, but when Henry refused to assist him once more in an Italian war campaign, conflict became inevitable. Dispossessed of his duchies after the Battle of Legnano in 1176 by Emperor Frederick I and the other princes of the German Empire eager to claim parts of his vast territories, he was exiled to the court of his father-in-law Henry II in Normandy in 1180. He returned to Germany three years later. Henry made his peace with the Hohenstaufen Emperor in 1185 and returned to his much diminished lands around Brunswick without recovering his two duchies. Bavaria had been given to Otto I, Duke of Bavaria, and the Duchy of Saxony was divided between the Archbishop of Cologne, the House of Ascania and others. Diminished lands did not prevent him from imprisoning Richard I on his return from the Third Crusade, and demanding a huge ransom in 1193. Henry died at Brunswick in 1195. Brunswick and Hanover Henry the Lion's son, Otto of Brunswick, was elected King of the Romans and crowned Holy Roman Emperor Otto IV after years of further conflicts with the Hohenstaufen emperors. He incurred the wrath of Pope Innocent III and was excommunicated in 1215. Otto was forced to abdicate the imperial throne by the Hohenstaufen Frederick II. He was the only Welf to become Holy Roman Emperor. Henry the Lion's grandson Otto the Child became duke of a part of Saxony in 1235, the new Duchy of Brunswick-Lüneburg, and died there in 1252. The duchy was divided several times during the High Middle Ages amongst various lines of the House of Welf. The subordinate states had the legal status of principalities within the duchy, which remained as an undivided imperial fief. Each state was generally named after the ruler's residence, e.g., the rulers of Brunswick-Wolfenbüttel originally lived in