R. Käslin, H. Kolvenbach, L. Paez, K. Lika and M. Hutter, „Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 2707-2714.
doi: 10.1109/IROS.2018.8593875
H. Kolvenbach, C. Bartschi, L. Wellhausen, R. Grandia and M. Hutter, „Haptic inspection of planetary soils with legged robots,” in IEEE Robotics and Automation Letters.
doi: 10.1109/LRA.2019.2896732
R. Grandia, F. Farshidian, A. Dosovitskiy, R. Ranftl and M. Hutter, „Frequency-Aware Model Predictive Control,” in IEEE Robotics and Automation Letters.
doi: 10.1109/LRA.2019.2895882
T. Seyde, J. Carius, R. Grandia, F. Farshidian and M. Hutter, “Locomotion Planning through a Hybrid Bayesian Trajectory Optimization,” 2019 IEEE International Conference on Robotics and Automation (ICRA), Montreal, 2019
doi: 10.1109/ICRA.2019.8794067
T. Homberger, L. Wellhausen, P. Fankhauser and M. Hutter, „Support Surface Estimation for Legged Robots,” 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 8470-8476.
doi: 10.1109/ICRA.2019.8793646
J. Bednarek, M. Bednarek, L. Wellhausen, M. Hutter and K. Walas, „What am I touching? Learning to classify terrain via haptic sensing,” 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7187-7193.
doi: 10.1109/ICRA.2019.8794478
D. Belter, J. Bednarek, H. Lin, G. Xin and M. Mistry, „Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion,” 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7441-7447.
doi: 10.1109/ICRA.2019.8793801
H. Kolvenbach, G. Valsecchi, R. Grandia, A. Ruiz, F. Jenelten, M. Hutter, „Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots”, 2019 12th Conference on Field and Service Robotics (FSR 2019), Tokyo, Japan
https://doi.org/10.3929/ethz-b-000351221
M. Brandão, M. Fallon, I. Havoutis, „Multi-controller multi-objective locomotion planning for legged robots”,2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China
doi: 10.1109/IROS40897.2019.8967926
D. Wisth, M. Camurri, M. Fallon, „Robust Legged Robot State Estimation Using Factor Graph Optimization”, IEEE Robotics and Automation Letters
doi: 10.1109/LRA.2019.2933768
R. Grandia, F. Farshidian, R. Ranftl, M. Hutter, „Feedback MPC for Torque-Controlled Legged Robots”, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China
doi: 10.1109/IROS40897.2019.8968251
J. Sleiman, J. Carius, R. Grandia, M. Wermelinger, M. Hutter, „Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation”, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China
doi: 10.1109/IROS40897.2019.8968194
J. Carius, R. Ranftl, V. Koltun, M. Hutter, „Trajectory Optimization for Legged Robots with Slipping Motions”, IEEE Robotics and Automation Letters
doi: 10.1109/LRA.2019.2923967
M Minniti, F. Farshidian, R. Grandia, M. Hutter, „Whole-Body MPC for a Dynamically Stable Mobile Manipulator”, IEEE Robotics and Automation Letters
doi: 10.1109/LRA.2019.2927955
F. Jenelten, J. Hwangbo, F. Tresoldi, D. Bellicoso, M. Hutter, „Dynamic Locomotion on Slippery Ground”, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China
doi: 10.1109/LRA.2019.2931284
Kolvenbach, H, Wisth, D, Buchanan, R, et al. Towards autonomous inspection of concrete deterioration in sewers with legged robots. J Field Robotics. 2020; 37: 1314– 1327. https://doi.org/10.1002/rob.21964
M. G. Catalano et al., „Adaptive Feet for Quadrupedal Walkers,” in IEEE Transactions on Robotics, doi: 10.1109/TRO.2021.3088060.
M. V. Minniti, R. Grandia, K. Fäh, F. Farshidian and M. Hutter, „Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 1651-1657, doi: 10.1109/ICRA48506.2021.9562066.
G. Valsecchi, R. Grandia and M. Hutter, „Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1548-1555, April 2020, doi: 10.1109/LRA.2020.2969160.
L. Wellhausen, R. Ranftl and M. Hutter, „Safe Robot Navigation Via Multi-Modal Anomaly Detection,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1326-1333, April 2020, doi: 10.1109/LRA.2020.2967706.
F. Jenelten, T. Miki, A. E. Vijayan, M. Bjelonic and M. Hutter, „Perceptive Locomotion in Rough Terrain – Online Foothold Optimization,” in IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5370-5376, Oct. 2020, doi: 10.1109/LRA.2020.3007427.
R. Grandia, A. J. Taylor, A. D. Ames and M. Hutter, „Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 8352-8358, doi: 10.1109/ICRA48506.2021.9561510.
J. Carius, F. Farshidian and M. Hutter, „MPC-Net: A First Principles Guided Policy Search,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2897-2904, April 2020, doi: 10.1109/LRA.2020.2974653.
Dang, T, Tranzatto, M, Khattak, S, Mascarich, F, Alexis, K, Hutter, M. Graph-based subterranean exploration path planning using aerial and legged robots. J Field Robotics. 2020; 37: 1363– 1388. https://doi.org/10.1002/rob.21993
Lee J, Hwangbo J, Wellhausen L, Koltun V, Hutter M. Learning quadrupedal locomotion over challenging terrain. Science Robotics, 2020 Oct 21;5(47):eabc5986. doi: 10.1126/scirobotics.abc5986.
Buchanan, R, Wellhausen, L, Bjelonic, M, Bandyopadhyay, T, Kottege, N, Hutter, M. Perceptive whole-body planning for multilegged robots in confined spaces. J Field Robotics. 2021; 38: 68– 84. https://doi.org/10.1002/rob.21974
Quadrupedal Robots for Planetary Exploration
Doctoral Thesis (2021)
Thesis: https://www.research-collection.ethz.ch/handle/20.500.11850/489008
V. Tsounis, M. Alge, J. Lee, F. Farshidian and M. Hutter, „DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3699-3706, April 2020, doi: 10.1109/LRA.2020.2979660.
D. Wisth, M. Camurri and M. Fallon, „Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry,” 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 392-398, doi: 10.1109/ICRA40945.2020.9197214.
Camurri M, Ramezani M, Nobili S and Fallon M (2020) Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios. Front. Robot. AI 7:68. doi: 10.3389/frobt.2020.00068
O. Melon, M. Geisert, D. Surovik, I. Havoutis and M. Fallon, „Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations,” 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 1410-1416, doi: 10.1109/ICRA40945.2020.9196562.
R. Buchanan, M. Camurri and M. Fallon, „Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 3657-3663, doi: 10.1109/IROS45743.2020.9341128.
M. Ramezani, Y. Wang, M. Camurri, D. Wisth, M. Mattamala and M. Fallon, „The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 4353-4360, doi: 10.1109/IROS45743.2020.9340849.
Buchanan, R., Bednarek, J., Camurri, M. et al. Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification. Auton Robot 45, 843–857 (2021). https://doi.org/10.1007/s10514-021-10013-w
Buchanan, Russell & Camurri, Marco & Dellaert, Frank & Fallon, Maurice, Learning Inertial Odometry for Dynamic Legged Robot State Estimation. CoRL (2021)
S. Gangapurwala, M. Geisert, R. Orsolino, M. Fallon and I. Havoutis, „Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 5973-5979, doi: 10.1109/ICRA48506.2021.9561639.
O. Melon, R. Orsolino, D. Surovik, M. Geisert, I. Havoutis and M. Fallon, „Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 9805-9811, doi: 10.1109/ICRA48506.2021.9560794.
Marco Tranzatto et al. CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge, Journal of Field Robotics Accepted
D. Wisth, M. Camurri, S. Das and M. Fallon, „Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1004-1011, April 2021, doi: 10.1109/LRA.2021.3056380.
D. Mura et al., „Exploiting Adaptability in Soft Feet for Sensing Contact Forces,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 391-398, April 2020, doi: 10.1109/LRA.2019.2952292.
R. Mengacci, F. Angelini, M. G. Catalano, G. Grioli, A. Bicchi and M. Garabini, „Stiffness Bounds for Resilient and Stable Physical Interaction of Articulated Soft Robots,” in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4131-4138, Oct. 2019, doi: 10.1109/LRA.2019.2931249.
F. Angelini et al., „Online Optimal Impedance Planning for Legged Robots,” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 6028-6035, doi: 10.1109/IROS40897.2019.8967696.
A. Palleschi et al., „Time-Optimal Trajectory Planning for Flexible Joint Robots,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 938-945, April 2020, doi: 10.1109/LRA.2020.2965861.
F. Angelini et al., „Time Generalization of Trajectories Learned on Articulated Soft Robots,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3493-3500, April 2020, doi: 10.1109/LRA.2020.2977268.
J. Bednarek et al., „CNN-based Foothold Selection for Mechanically Adaptive Soft Foot,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 10225-10232, doi: 10.1109/IROS45743.2020.9340910.
G. Xin et al., „Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4488-4495, July 2021, doi: 10.1109/LRA.2021.3068695.
R. Mengacci, M. Garabini, G. Grioli, M. Catalano and A. Bicchi, „Overcoming the Torque/Stiffness Range Tradeoff in Antagonistic Variable Stiffness Actuators,” in IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2021.3055364.
Angelini F, Della Santina C, Garabini M, Bianchi M and Bicchi A (2020) Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots. Front. Robot. AI 7:117. doi: 10.3389/frobt.2020.00117
Angelini, Franco, Matteo Bianchi, Manolo Garabini, Antonio Bicchi and Cosimo Della Santina. “Iterative Learning Control as a Framework for Human-Inspired Control with Bio-mimetic Actuators.” Living Machines (2020).
M. Pierallini, F. Angelini, R. Mengacci, A. Palleschi, A. Bicchi and M. Garabini, „Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control,” 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 7579-7586, doi: 10.1109/IROS45743.2020.9341215.
Stefaniak, Pawel & Skoczylas, Artur & Nowicki, M & Walas, K & Stachowiak, Maria, Semi-autonomous inspection of a belt conveyor in an industrial environment with the use of a legged robot. APCOM (2021)
Belter, D., Wietrzykowski, J. & Skrzypczyński, P. Employing Natural Terrain Semantics in Motion Planning for a Multi-Legged Robot. J Intell Robot Syst 93, 723–743 (2019). https://doi.org/10.1007/s10846-018-0865-x
D. Belter, „Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-Legged Walking Robots,” in IEEE Access, vol. 7, pp. 107845-107862, 2019, doi: 10.1109/ACCESS.2019.2933178.
Skoczylas A., Stachowiak M., Stefaniak P., Jachnik B. (2021) Terrain Classification Using Neural Network Based on Inertial Sensors for Wheeled Robot. In: Hong TP., Wojtkiewicz K., Chawuthai R., Sitek P. (eds) Recent Challenges in Intelligent Information and Database Systems. ACIIDS 2021. Communications in Computer and Information Science, vol 1371. Springer, Singapore. https://doi.org/10.1007/978-981-16-1685-3_35
Stachowiak, M.; Koperska, W.; Stefaniak, P.; Skoczylas, A.; Anufriiev, S. Procedures of Detecting Damage to a Conveyor Belt with Use of an Inspection Legged Robot for Deep Mine Infrastructure. Minerals 2021, 11, 1040. https://doi.org/10.3390/min11101040
Stefaniak, P.; Jachnik, B.; Koperska, W.; Skoczylas, A. Localization of LHD Machines in Underground Conditions Using IMU Sensors and DTW Algorithm. Appl. Sci. 2021, 11, 6751. https://doi.org/10.3390/app11156751
Skoczylas, A.; Stefaniak, P.; Anufriiev, S.; Jachnik, B. Belt Conveyors Rollers Diagnostics Based on Acoustic Signal Collected Using Autonomous Legged Inspection Robot. Appl. Sci. 2021, 11, 2299. https://doi.org/10.3390/app11052299
J. Bednarek, M. Bednarek, L. Wellhausen, M. Hutter and K. Walas, „What am I touching? Learning to classify terrain via haptic sensing,” 2019 International Conference on Robotics and Automation (ICRA), 2019, pp. 7187-7193, doi: 10.1109/ICRA.2019.8794478.
Zimroz R., Hutter M., Mistry M., Stefaniak P., Walas K., Wodecki J. (2019) Why Should Inspection Robots be used in Deep Underground Mines?. In: Widzyk-Capehart E., Hekmat A., Singhal R. (eds) Proceedings of the 27th International Symposium on Mine Planning and Equipment Selection – MPES 2018. Springer, Cham. https://doi.org/10.1007/978-3-319-99220-4_42
M. Bednarek, M. Łysakowski, J. Bednarek, M. R. Nowicki and K. Walas, „Fast Haptic Terrain Classification for Legged Robots Using Transformer,” 2021 European Conference on Mobile Robots (ECMR), 2021, pp. 1-7, doi: 10.1109/ECMR50962.2021.9568808.
G. Xin, J. Smith, D. Rytz, W. Wolfslag, H. -C. Lin and M. Mistry, „Bounded haptic teleoperation of a quadruped robot’s foot posture for sensing and manipulation,” 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 1431-1437, doi: 10.1109/ICRA40945.2020.9197501.
H. -C. Lin and M. Mistry, „Contact Surface Estimation via Haptic Perception,” 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, pp. 5087-5093, doi: 10.1109/ICRA40945.2020.9196816.
C. Tiseo, S. R. Charitos and M. Mistry, „Theoretical Evidence Supporting Harmonic Reaching Trajectories,” 2021 10th International IEEE/EMBS Conference on Neural Engineering (NER), 2021, pp. 823-827, doi: 10.1109/NER49283.2021.9441366.
K. K. Babarahmati, C. Tiseo, Q. Rouxel, Z. Li and M. Mistry, „Robust High-Transparency Haptic Exploration for Dexterous Telemanipulation,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 10146-10152, doi: 10.1109/ICRA48506.2021.9561968.
O. Cebe, C. Tiseo, G. Xin, H. -c. Lin, J. Smith and M. Mistry, „Online Dynamic Trajectory Optimization and Control for a Quadruped Robot,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 12773-12779, doi: 10.1109/ICRA48506.2021.9561592.
C. Tiseo, V. Ivan, W. Merkt, I. Havoutis, M. Mistry and S. Vijayakumar, „A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 8223-8229, doi: 10.1109/ICRA48506.2021.9561377.
Smith, J. & Mistry, M.. (2021). ARDL – A Library for Adaptive Robotic Dynamics Learning. Proceedings of the 3rd Conference on Learning for Dynamics and Control, in Proceedings of Machine Learning Research 144:754-766 Available from https://proceedings.mlr.press/v144/smith21a.html.
G. Xin et al., „Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion,” in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4488-4495, July 2021, doi: 10.1109/LRA.2021.3068695.
Xin G, Wolfslag W, Lin H-C, Tiseo C and Mistry M (2020) An Optimization-Based Locomotion Controller for Quadruped Robots Leveraging Cartesian Impedance Control. Front. Robot. AI 7:48. doi: 10.3389/frobt.2020.00048
J. Smith and M. Mistry, „Online Simultaneous Semi-Parametric Dynamics Model Learning,” in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2039-2046, April 2020, doi: 10.1109/LRA.2020.2970987.
G. Xin, H. Lin, J. Smith, O. Cebe and M. Mistry, „A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances,” 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 4375-4382, doi: 10.1109/ICRA.2018.8461172.
H. -C. Lin, J. Smith, K. K. Babarahmati, N. Dehio and M. Mistry, „A Projected Inverse Dynamics Approach for Multi-Arm Cartesian Impedance Control,” 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, pp. 5421-5428, doi: 10.1109/ICRA.2018.8461202.
Workshops
R. Grandia, F. Farshidian, R. Ranftl, M. Hutter, „Online Whole-body Feedback MPC for Legged Robots”, 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019
tl, M. Hutter, „Online Whole-body Feedback MPC for Legged Robots”, 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019
D. Wisth, M. Camurri; M. Fallon, „Robust Legged Robot State Estimation Using Factor Graph Optimization”, 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019
M. Bednarek, J. Bednarek, N. Maalouf, K. Walas, „Friction Estimation Using Walking Robots”, 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019