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subTerranean Haptic INvestiGator

Deliverables

Report on the evaluation of the first prototypes of soles

Evaluation of sole prototypes and selection of the final configuration

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.

Open-source simulation package

Open source simulator released via a git-repository.

Publications

Frequency-Aware Model Predictive Control

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

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


Published in: ISSN 1573-0409

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, Issue 3 (1), 2018, Page(s) 573–580, ISSN 2377-3766

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, Issue 4 (3), 2019, Page(s) 3013 - 3020, ISSN 2377-3766

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, Issue 4(4), 2019, Page(s) 4131-4138, ISSN 2377-3766

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

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, Issue 4(2), 2019, Page(s) 1509-1516, ISSN 2377-3766

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

Effects of the weighting matrix on dynamic manipulability of robots

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

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, Issue 54, 2018, Page(s) 145-155, ISSN 0736-5845

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, Issue 5, 2019

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

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

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

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

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

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

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

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

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, Issue 3(2), 2018, Page(s) 895-902, ISSN 2377-3766

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

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

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

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

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

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

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

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