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subTerranean Haptic INvestiGator

Deliverables

Launch of project website, social media, and video channel

Launch of project website, social media, and video channel.

Media material for industry

Promotional media material for industry summarizing related project outputs

Media material summarizing all the events organized throughout the project

Public layperson video released summarizing events and outcomes of the project

Report on the evaluation of the first prototypes of soles

Evaluation of sole prototypes and selection of the final configuration

Technical report describing the performance of friction and vibration sensing

Technical report describing analysis of friction and vibration sensing via sole in underground mine

Report of combined mapping with Adaptive Feet and external sensing

Report describing approaches for mapping combining inputs from adaptive feet and visual sensing

First Prototypes of Passive and Active sole

First prototypes of new passive and active sole released

Passive ankle joints with rigid sole

First prototype of passive ankle joint (with rigid sole) released.

Active ankle joints

First prototypes of active ankles released

Open-source simulation package

Open source simulator released via a git-repository.

Searching for OpenAIRE data...

Publications

Feedback MPC for Torque-Controlled Legged Robots

Author(s): Ruben Grandia; Farbod Farshidian; Rene Ranftl; Marco Hutter
Published in: IROS, 7, 2019
Publisher: IEEE
DOI: 10.3929/ethz-b-000357550

A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances

Author(s): Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Oguzhan Cebe; Michael Mistry
Published in: ICRA, 29, 2018
Publisher: IEEE
DOI: 10.1109/icra.2018.8461172

Online Dynamic Trajectory Optimization and Control for a Quadruped Robot

Author(s): Oguzhan Cebe; Carlo Tiseo; Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Michael Mistry
Published in: ICRA, 13, 2021
Publisher: IEEE
DOI: 10.1109/icra48506.2021.9561592

Contact Surface Estimation via Haptic Perception

Author(s): Hsiu-Chin Lin; Michael Mistry
Published in: ICRA, 12, 2020
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196816

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Author(s): Mathieu Geisert; Tom A Yates; Asil Orgen; Pierre Fernbach; Ioannis Havoutis
Published in: https://hal.archives-ouvertes.fr/hal-02097212, 7, 2019
Publisher: Springer
DOI: 10.1007/978-3-030-23807-0_23

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

Author(s): Guiyang Xin; Carlo Tiseo; Wouter Wolfslag; Joshua Smith; Oguzhan Cebe; Zhibin Li; Sethu Vijayakumar; Michael Mistry
Published in: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 17, 2020
Publisher: IEEE
DOI: 10.1109/case48305.2020.9216813

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Author(s): Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis
Published in: Towards Autonomous Robotic Systems Conference, 5, 2019
Publisher: IEEE

Online Optimal Impedance Planning for Legged Robots

Author(s): Angelini, Franco and Xin, Guiyang and Wolfslag, Wouter J. and Tiseo, Carlo and Mistry, Michael and Garabini, Manolo and Bicchi, Antonio and Vijayakumar, Sethu
Published in: International Conference on Intelligent Robots and Systems, 2019
Publisher: IEEE

What am I touching? Learning to classify terrain via haptic sensing

Author(s): Bednarek, Jakub, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, and Krzysztof Walas
Published in: International Conference on Robotics and Automation, 2019
Publisher: IEEE

Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion

Author(s): Belter, Dominik, Jakub Bednarek, Hsiu-Chin Lin, Guiyang Xin, and Michael Mistry
Published in: International Conference on Robotics and Automation, 2019
Publisher: IEEE

Multi-controller multiobjective locomotion planning for legged robots

Author(s): Martim Brandao, Maurice Fallon, and Ioannis Havoutis
Published in: International Conference on Intelligent Robots and Systems, 2019
Publisher: IEEE

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Author(s): Fankhauser, Péter, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, and Marco Hutter
Published in: International Conference on Robotics and Automation, 2018, Page(s) 1-8, ISSN 2577-087X
Publisher: IEEE

The control toolbox—An open-source C++ library for robotics, optimal and model predictive control

Author(s): "Giftthaler, Markus and Neunert, Michael and St{\""a}uble, Markus and Buchli, Jonas"
Published in: International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2018, Page(s) 123-129
Publisher: IEEE

Feedback MPC for Torque-Controlled Legged Robots

Author(s): Grandia, Ruben and Farshidian, Farbod and Ranftl, Ren{\'{e}} and Hutter, Marco
Published in: International Conference on Intelligent Robots and Systems, 2019
Publisher: IEEE

Support Surface Estimation for Legged Robots

Author(s): Homberger, Timon and Wellhausen, Lorenz and Fankhauser, P{\'{e}}ter and Hutter, Marco
Published in: International Conference on Robotics and Automation, 2019
Publisher: IEEE

Per-Contact Iteration Method for Solving Contact Dynamics

Author(s): Hwangbo, Jemin and Lee, Joonho and Hutter, Marco
Published in: IEEE Robotics and Automation Letters, 3(2), 2018, Page(s) 895-902, ISSN 2377-3766
Publisher: IEEE

Dynamic Locomotion on Slippery Ground

Author(s): Jenelten, Fabian and Hwangbo, Jemin and Tresoldi, Fabian and Bellicoso, C Dario and Hutter, Marco
Published in: International Conference on Intelligent Robots and Systems, 2019
Publisher: IEEE

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots

Author(s): Kaslin, Roman and Kolvenbach, Hendrik and Paez, Laura and Lika, Klajd and Hutter, Marco
Published in: International Conference on Intelligent Robots and Systems, 2018, Page(s) 2707-2714
Publisher: IEEE

Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots

Author(s): Kolvenbach, Hendrik and Valsecchi, Giorgio and Grandia, Ruben and Ruiz, Antoni and Jenelten, Fabian and Hutter, Marco
Published in: Field and Service Robots, 2019
Publisher: Field and Service Robots

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Author(s): Seyde, Tim and Carius, Jan and Grandia, Ruben and Farshidian, Farbod and Hutter, Marco
Published in: International Conference on Robotics and Automation, 2019
Publisher: IEEE

VILENS: A Visual Inertial Legged Navigation System based on Factor Graphs

Author(s): D. Wisth, and M. Camurri and M. Fallon
Published in: Workshop Towards Real-World Deployment of Legged Robots, 2019
Publisher: IEEE

A model-based hierarchical controller for legged systems subject to external disturbances

Author(s): Xin, Guiyang and Lin, Hsiu-Chin and Smith, Joshua and Cebe, Oguzhan and Mistry, Michael
Published in: International Conference on Robotics and Automation, 2018, Page(s) 4375-4382
Publisher: IEEE

Why Should Inspection Robots be used in Deep Underground Mines

Author(s): R. Zimroz, M. Hutter, M. Mistry, P. Stefaniak, K. Walas, J. Wodecki
Published in: International Symposium on Mine Planning and Equipment Selection, 2018, ISBN 978-3-319-99220-4
Publisher: Springer

Analytic Model for Quadruped Locomotion Task-Space Planning

Author(s): Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
Published in: International Conference of the IEEE Engineering in Medicine and Biology Society, 2019
Publisher: IEEE

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Author(s): Tim Seyde; Jan Carius; Ruben Grandia; Farbod Farshidian; Marco Hutter
Published in: 2019 International Conference on Robotics and Automation (ICRA), 14, 2019
Publisher: IEEE
DOI: 10.1109/icra.2019.8794067

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks

Author(s): Maria Vittoria Minniti; Ruben Grandia; Kevin Fah; Farbod Farshidian; Marco Hutter
Published in: ICRA, 4, 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000476635

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Author(s): Ruben Grandia; Andrew J. Taylor; Andrew Singletary; Marco Hutter; Aaron D. Ames
Published in: Robotics: Science and Systems, 6, 2020
Publisher: RSS
DOI: 10.15607/rss.2020.xvi.098

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control

Author(s): Ruben Grandia; Andrew J. Taylor; Aaron D. Ames; Marco Hutter
Published in: ICRA, 25, 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000489842

Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning

Author(s): Lorenz Wellhausen; Marco Hutter
Published in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 20, 2021
Publisher: IEEE
DOI: 10.3929/ethz-b-000507668

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Author(s): Jean-Pierre Sleiman; Jan Carius; Ruben Grandia; Martin Wermelinger; Marco Hutter
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 13, 2020
Publisher: IEEE
DOI: 10.3929/ethz-b-000355282

Exploiting Adaptability in Soft Feet for Sensing Contact Forces

Author(s): Mura, Domenico; Santina, Cosimo Della; Piazza, Cristina; Frizza, Irene; Morandi, Cecilia; Garabini, Manolo; Grioli, Giorgio; Catalano, Manuel Giuseppe
Published in: IEEE Robotics and Automation Letters, Vol 5 Issue 2, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2952292

Perceptive whole‐body planning for multilegged robots in confined spaces

Author(s): Russell Buchanan; Lorenz Wellhausen; Marko Bjelonic; Tirthankar Bandyopadhyay; Navinda Kottege; Marco Hutter
Published in: Journal of Field Robotics, 38 (1), Vol 38, Issue 1, 2020, ISSN 1556-4967
Publisher: Wiley
DOI: 10.1002/rob.21974

Dynamic Locomotion on Slippery Ground

Author(s): Jenelten, Fabian; Hwangbo, Jemin; Tresoldi, Fabian; Bellicoso, C. Dario; Hutter, Marco
Published in: IEEE Robotics and Automation Letters, Volume 4, Issue 4, 2019, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000355281

MPC-Net: A First Principles Guided Policy Search

Author(s): Jan Carius; Farbod Farshidian; Marco Hutter
Published in: IEEE Robotics and Automation Letters, 5 (2), 16, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2974653

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Author(s): Guiyang Xin; Songyan Xin; Oguzhan Cebe; Mathew Jose Pollayil; Franco Angelini; Manolo Garabini; Sethu Vijayakumar; Michael Mistry
Published in: Xin , G , Xin , S , Cebe , O , Pollayil , M J , Angelini , F , Garabini , M , Vijayakumar , S & Mistry , M 2021 , ' Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion ' , IEEE Robotics and Automation Letters , vol. 6 , no. 3 , pp. 4488 - 4495 . https://doi.org/10.1109/LRA.2021.3068695, 21, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3068695

Learning robust perceptive locomotion for quadrupedal robots in the wild

Author(s): Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Published in: Science Robotics, 7 (62), 20, 2022, ISSN 2470-9476
Publisher: Science Robotics
DOI: 10.1126/scirobotics.abk2822

DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning

Author(s): Vassilios Tsounis; Mitja Alge; Joonho Lee; Farbod Farshidian; Marco Hutter
Published in: IEEE Robotics and Automation Letters, 5 (2), 19, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2979660

Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

Author(s): Fabian Jenelten; Takahiro Miki; Aravind E. Vijayan; Marko Bjelonic; Marco Hutter
Published in: IEEE Robotics and Automation Letters, 2, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000425596

Graph-based subterranean exploration path planning using aerial and legged robots

Author(s): Tung Dang; Marco Tranzatto; Shehryar Khattak; Frank Mascarich; Kostas Alexis; Marco Hutter
Published in: Journal of Field Robotics, Volume 37, Issue 8, 2020, ISSN 1556-4967
Publisher: Wiley
DOI: 10.1002/rob.21993

Towards autonomous inspection of concrete deterioration in sewers with legged robots

Author(s): Hendrik Kolvenbach; David Wisth; Russell Buchanan; Giorgio Valsecchi; Ruben Grandia; Maurice Fallon; Marco Hutter
Published in: Journal of Field Robotics, Volume 37, Issue 8, 2020, ISSN 1556-4967
Publisher: Wiley
DOI: 10.1002/rob.21964

Safe Robot Navigation via Multi-Modal Anomaly Detection.

Author(s): Wellhausen, Lorenz; Ranftl, Rene; Hutter, Marco
Published in: IEEE Robotics and Automation Letters, 5 (2), 19, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2967706

Adaptive CLF-MPC with application to quadrupedal robots

Author(s): Maria Vittoria Minniti; Ruben Grandia; Farbod Farshidian; Marco Hutter
Published in: IEEE Robotics and Automation Letters, Vol 7 Issue 1, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000515076

Frequency-Aware Model Predictive Control

Author(s): Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, Rene Ranftl, Marco Hutter
Published in: IEEE Robotics and Automation Letters, 4/2, 2019, Page(s) 1517-1524, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2895882

Whole-Body MPC for a Dynamically Stable Mobile Manipulator

Author(s): Minniti, Maria V.; Farshidian, Farbod; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Published in: IEEE Robotics and Automation Letters, 4, 2019, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000353053

Haptic Inspection of Planetary Soils with Legged Robots

Author(s): Kolvenbach, Hendrik; Bärtschi, Christian; Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Published in: IEEE Robotics and Automation Letters, 4 (2), 2019, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000322720

Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-legged Walking Robots

Author(s): D. Belter
Published in: Access, 2019, Page(s) 2169-3536, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.

Employing Natural Terrain Semantics in Motion Planning for a Multi-Legged Robot

Author(s): Dominik Belter, Jan Wietrzykowski, and Piotr Skrzypczyński
Published in: Journal of Intelligent & Robotic Systems, 2019, Page(s) 723–743, ISSN 1573-0409
Publisher: Springer

The Two-State Implicit Filter Recursive Estimation for Mobile Robots

Author(s): Bloesch, Michael, Michael Burri, Hannes Sommer, Roland Siegwart, and Marco Hutter
Published in: IEEE Robotics and Automation Letters, 3 (1), 2018, Page(s) 573–580, ISSN 2377-3766
Publisher: IEEE

Trajectory Optimization for Legged Robots with Slipping Motions

Author(s): Jan Carius, René Ranftl, Vladlen Koltun, and Marco Hutter
Published in: IEEE Robotics and Automation Letters, 4 (3), 2019, Page(s) 3013 - 3020, ISSN 2377-3766
Publisher: IEEE

Stiffness Bounds for Resilient and Stable Physical Interaction of Articulated Soft Robots

Author(s): Mengacci, Riccardo and Angelini, Franco and Catalano, Manuel G. and Grioli,Giorgio and Bicchi, Antonio and Garabini, Manolo
Published in: IEEE Robotics and Automation Letters, 4(4), 2019, Page(s) 4131-4138, ISSN 2377-3766
Publisher: IEEE

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Author(s): Sleiman, Jean-pierre and Carius, Jan and Grandia, Ruben and Wermelinger, Martin and Hutter, Marco
Published in: IEEE Robot and Automation Letters, 2019, ISSN 2377-3766
Publisher: IEEE

Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning

Author(s): Wellhausen, Lorenz and Dosovitskiy, Alexey and Ranftl, Rene and Walas, Krzysztof and Cadena, Cesar and Hutter, Marco
Published in: IEEE Robotics and Automation Letters, 4(2), 2019, Page(s) 1509-1516, ISSN 2377-3766
Publisher: IEEE

Robust Legged Robot State Estimation Using Factor Graph Optimization

Author(s): Wisth, David, Marco Camurri, and Maurice Fallon
Published in: IEEE Robotics and Automation Letters, 2019, ISSN 2377-3766
Publisher: IEEE

Effects of the weighting matrix on dynamic manipulability of robots

Author(s): Morteza Azad, Jan Babič, Michael Mistry
Published in: Autonomous Robots, 43 (7), 2018, Page(s) 1867-1879, ISSN 1573-7527
Publisher: Springer

Object carrying of hexapod robots with integrated mechanism of leg and arm

Author(s): Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry
Published in: Robotics and Computer-Integrated Manufacturing, 54, 2018, Page(s) 145-155, ISSN 0736-5845
Publisher: Pergamon Press Ltd.

Localization of LHD Machines in Underground Conditions Using IMU Sensors and DTW Algorithm

Author(s): Paweł Stefaniak; Bartosz Jachnik; Wioletta Koperska; Artur Skoczylas
Published in: Applied Sciences, 11(15), 2021, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11156751

Learning quadrupedal locomotion over challenging terrain

Author(s): Joonho Lee; Jemin Hwangbo; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Published in: Science Robotics, Vol 5, No 47, 2020, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abc5986

Adaptive Feet for Quadrupedal Walkers

Author(s): Manuel G. Catalano; Mathew Jose Pollayil; Giorgio Grioli; Giorgio Valsecchi; Hendrik Kolvenbach; Marco Hutter; Antonio Bicchi; Manolo Garabini
Published in: IEEE Transactions on Robotics, Vol 38, Issue 1, 2022, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3088060

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet

Author(s): Valsecchi, Giorgio; Grandia, Ruben; Hutter, Marco
Published in: IEEE Robotics and Automation Letters, 5 (2), 8, 2020, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2969160

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Author(s): David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter
Published in: IEEE Robotics and Automation Letters, 6 (3), 19, 2021, ISSN 2377-3766
Publisher: IEEE
DOI: 10.3929/ethz-b-000482492

Quadrupedal Robots for Planetary Exploration

Author(s): Kolvenbach, Hendrik
Published in: 6, 2021
Publisher: ETH Zurich
DOI: 10.3929/ethz-b-000489008