Marco Hutter

According to our database1, Marco Hutter authored at least 130 papers between 2008 and 2021.

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Bibliography

2021
Grasping and Object Reorientation for Autonomous Construction of Stone Structures.
IEEE Robotics Autom. Lett., 2021

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation.
IEEE Robotics Autom. Lett., 2021

Learning a State Representation and Navigation in Cluttered and Dynamic Environments.
IEEE Robotics Autom. Lett., 2021

Perceptive whole-body planning for multilegged robots in confined spaces.
J. Field Robotics, 2021

Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation.
CoRR, 2021

Towards Autonomous Robotic Precision Harvesting.
CoRR, 2021

Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots.
CoRR, 2021

3D Surfel Map-Aided Visual Relocalization with Learned Descriptors.
CoRR, 2021

Imitation Learning from MPC for Quadrupedal Multi-Gait Control.
CoRR, 2021

Collision-Free MPC for Legged Robots in Static and Dynamic Scenes.
CoRR, 2021

Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation.
CoRR, 2021

Constraint Handling in Continuous-Time DDP-Based Model Predictive Control.
CoRR, 2021

2020
Safe Robot Navigation Via Multi-Modal Anomaly Detection.
IEEE Robotics Autom. Lett., 2020

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet.
IEEE Robotics Autom. Lett., 2020

DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning.
IEEE Robotics Autom. Lett., 2020

An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation.
IEEE Robotics Autom. Lett., 2020

Perceptive Model Predictive Control for Continuous Mobile Manipulation.
IEEE Robotics Autom. Lett., 2020

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain.
IEEE Robotics Autom. Lett., 2020

Perceptive Locomotion in Rough Terrain - Online Foothold Optimization.
IEEE Robotics Autom. Lett., 2020

Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots.
IEEE Robotics Autom. Lett., 2020

MPC-Net: A First Principles Guided Policy Search.
IEEE Robotics Autom. Lett., 2020

Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization.
IEEE Robotics Autom. Lett., 2020

Towards autonomous inspection of concrete deterioration in sewers with legged robots.
J. Field Robotics, 2020

Graph-based subterranean exploration path planning using aerial and legged robots.
J. Field Robotics, 2020

Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs.
CoRR, 2020

Self-supervised Learning of LiDAR Odometry for Robotic Applications.
CoRR, 2020

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control.
CoRR, 2020

Learning Quadrupedal Locomotion over Challenging Terrain.
CoRR, 2020

Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots.
CoRR, 2020

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.
CoRR, 2020

Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot.
Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Physical Human-Robot Interaction with Real Active Surfaces using Haptic Rendering on Point Clouds.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Towards RL-Based Hydraulic Excavator Automation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019
Learning agile and dynamic motor skills for legged robots.
Sci. Robotics, 2019

ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot.
IEEE Robotics Autom. Lett., 2019

Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning.
IEEE Robotics Autom. Lett., 2019

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints.
IEEE Robotics Autom. Lett., 2019

Whole-Body MPC for a Dynamically Stable Mobile Manipulator.
IEEE Robotics Autom. Lett., 2019

Haptic Inspection of Planetary Soils With Legged Robots.
IEEE Robotics Autom. Lett., 2019

Autonomous Free-Form Trenching Using a Walking Excavator.
IEEE Robotics Autom. Lett., 2019

Dynamic Locomotion on Slippery Ground.
IEEE Robotics Autom. Lett., 2019

Frequency-Aware Model Predictive Control.
IEEE Robotics Autom. Lett., 2019

Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm.
IEEE Robotics Autom. Lett., 2019

Trajectory Optimization for Legged Robots With Slipping Motions.
IEEE Robotics Autom. Lett., 2019

Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces.
IEEE Robotics Autom. Lett., 2019

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots.
IEEE Robotics Autom. Lett., 2019

The current state and future outlook of rescue robotics.
J. Field Robotics, 2019

Learning agile and dynamic motor skills for legged robots.
CoRR, 2019

Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning.
CoRR, 2019

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Towards Jumping Locomotion for Quadruped Robots on the Moon.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Whole-Body Motion Planning for Walking Excavators.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Feedback MPC for Torque-Controlled Legged Robots.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization.
Proceedings of the International Conference on Robotics and Automation, 2019

Support Surface Estimation for Legged Robots.
Proceedings of the International Conference on Robotics and Automation, 2019

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot.
Proceedings of the International Conference on Robotics and Automation, 2019

What am I touching? Learning to classify terrain via haptic sensing.
Proceedings of the International Conference on Robotics and Automation, 2019

SpaceBok: A Dynamic Legged Robot for Space Exploration.
Proceedings of the International Conference on Robotics and Automation, 2019

Deep Value Model Predictive Control.
Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018
Per-Contact Iteration Method for Solving Contact Dynamics.
IEEE Robotics Autom. Lett., 2018

Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization.
IEEE Robotics Autom. Lett., 2018

Trajectory Optimization With Implicit Hard Contacts.
IEEE Robotics Autom. Lett., 2018

The Two-State Implicit Filter Recursive Estimation for Mobile Robots.
IEEE Robotics Autom. Lett., 2018

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots.
IEEE Robotics Autom. Lett., 2018

Editorial.
J. Field Robotics, 2018

Deployment of an autonomous mobile manipulator at MBZIRC.
J. Field Robotics, 2018

Advances in real-world applications for legged robots.
J. Field Robotics, 2018

An Adaptive Landing Gear for Extending the Operational Range of Helicopters.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Cable-Driven Actuation for Highly Dynamic Robotic Systems.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Skating with a Force Controlled Quadrupedal Robot.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Real-Time Dance Generation to Music for a Legged Robot.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Greedy Stone Tower Creations with a Robotic Arm.
Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence, 2018

Robust Rough-Terrain Locomotion with a Quadrupedal Robot.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017
Planning and Control for Autonomous Excavation.
IEEE Robotics Autom. Lett., 2017

Control of a Quadrotor With Reinforcement Learning.
IEEE Robotics Autom. Lett., 2017

Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback.
Int. J. Robotics Res., 2017

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds.
CoRR, 2017

ANYmal - toward legged robots for harsh environments.
Adv. Robotics, 2017

Robust damping of a ropeway gondola's wind oscillations with an actuated mass.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Dynamic locomotion and whole-body control for quadrupedal robots.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Quadrupedal locomotion using trajectory optimization and hierarchical whole body control.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Autonomous robotic stone stacking with online next best object target pose planning.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots.
Proceedings of the Field and Service Robotics, 2017

Towards a Generic Solution for Inspection of Industrial Sites.
Proceedings of the Field and Service Robotics, 2017

Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials.
Proceedings of the Field and Service Robotics, 2017

Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC.
Proceedings of the Field and Service Robotics, 2017

2016
Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot.
IEEE Robotics Autom. Mag., 2016

A Primer on the Differential Calculus of 3D Orientations.
CoRR, 2016

Collaborative localization of aerial and ground robots through elevation maps.
Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Coverage path planning for legged robots in unknown environments.
Proceedings of the 2016 IEEE International Symposium on Safety, 2016

IBEX - A tele-operation and training device for walking excavators.
Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Navigation planning for legged robots in challenging terrain.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

ANYmal - a highly mobile and dynamic quadrupedal robot.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Collaborative navigation for flying and walking robots.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

ANYpulator: Design and control of a safe robotic arm.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Free Gait - An architecture for the versatile control of legged robots.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Perception-less terrain adaptation through whole body control and hierarchical optimization.
Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Robust Visual Place Recognition with Graph Kernels.
Proceedings of the 2016 IEEE Conference on Computer Vision and Pattern Recognition, 2016

2015
Direct state-to-action mapping for high DOF robots using ELM.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Dynamic trotting on slopes for quadrupedal robots.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Robust visual inertial odometry using a direct EKF-based approach.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Towards optimal force distribution for walking excavators.
Proceedings of the International Conference on Advanced Robotics, 2015

Kinect v2 for mobile robot navigation: Evaluation and modeling.
Proceedings of the International Conference on Advanced Robotics, 2015

2014
Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped.
IEEE Trans. Robotics, 2014

Quadrupedal locomotion using hierarchical operational space control.
Int. J. Robotics Res., 2014

Fusion of optical flow and inertial measurements for robust egomotion estimation.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Towards automatic discovery of agile gaits for quadrupedal robots.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013
AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

Reinforcement learning of single legged locomotion.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

State estimation for legged robots on unstable and slippery terrain.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Unsupervised identification and prediction of foothold robustness.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Control of dynamic gaits for a quadrupedal robot.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Kinematic batch calibration for legged robots.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012
Quadrupedal Robots with Stiff and Compliant Actuation.
Autom., 2012

Hybrid Operational Space Control for Compliant Legged Systems.
Proceedings of the Robotics: Science and Systems VIII, 2012

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU.
Proceedings of the Robotics: Science and Systems VIII, 2012

2011
Walking and crawling with ALoF: a robot for autonomous locomotion on four legs.
Ind. Robot, 2011

ScarlETH: Design and control of a planar running robot.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

2010
SLIP running with an articulated robotic leg.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Passive dynamic walking with quadrupeds - Extensions towards 3D.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Haptic terrain classification for legged robots.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Adaptive control strategies for open-loop dynamic hopping.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2008
Modeling assembled-MEMS microrobots for wireless magnetic control.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008


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