 Complete the following phrase:  The village is located east of Yverdon and played some historic role in previous times. It is dominated by a medieval castle the origins of which date back to 1105. Charles the Bold, Duke of Burgundy 14331477, last reigning duke of Burgundy 14671477, son and successor of Philip the Good, made his quarters at the castle early in June 1476 on his way to Murten where he lost the 