Deliverables Websites, patent fillings, videos etc. (3) 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 Documents, reports (3) 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 Demonstrators, pilots, prototypes (3) 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 Other (1) Open-source simulation package Open source simulator released via a git-repository. Publications Conference proceedings (30) Feedback MPC for Torque-Controlled Legged Robots Author(s): Ruben Grandia; Farbod Farshidian; Rene Ranftl; Marco Hutter Published in: IROS, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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), Issue 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, Issue 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, Issue 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), Issue 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, Issue 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, Issue 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, Issue 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), Issue 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), Issue 13, 2020 Publisher: IEEE DOI: 10.3929/ethz-b-000355282 Peer reviewed articles (30) 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, Issue 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), Issue 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, Issue 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), Issue 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, Issue 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), Issue 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), Issue 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, Issue 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, Issue 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, Issue 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), Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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, Issue 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), Issue 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), Issue 19, 2021, ISSN 2377-3766 Publisher: IEEE DOI: 10.3929/ethz-b-000482492 Thesis dissertations (1) Quadrupedal Robots for Planetary Exploration Author(s): Kolvenbach, Hendrik Published in: Issue 6, 2021 Publisher: ETH Zurich DOI: 10.3929/ethz-b-000489008 Searching for OpenAIRE data... 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