Marco Hutter

According to our database, Marco Hutter authored at least 315 papers between 2008 and 2025.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2025

Wild visual navigation: fast traversability learning via pre-trained models and online self-supervision.

Matías Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice F. Fallon

Auton. Robots, September, 2025

GraspQP: Differentiable Optimization of Force Closure for Diverse and Robust Dexterous Grasping.

René Zurbrügg, Andrei Cramariuc, Marco Hutter

CoRR, August, 2025

Large Scale Robotic Material Handling: Learning, Planning, and Control.

Filippo A. Spinelli, Yifan Zhai, Fang Nan, Pascal Egli, Julian Nubert, Thilo Bleumer, Lukas Miller, Ferdinand Hofmann, Marco Hutter

CoRR, August, 2025

Experience is the Best Teacher: Grounding VLMs for Robotics through Self-Generated Memory.

Guowei Lan, Kaixian Qu, René Zurbrügg, Changan Chen, Christopher E. Mower, Haitham Bou-Ammar, Marco Hutter

CoRR, July, 2025

Constrained Style Learning from Imperfect Demonstrations under Task Optimality.

Kehan Wen, Chenhao Li, Junzhe He, Marco Hutter

CoRR, July, 2025

Multi-critic Learning for Whole-body End-effector Twist Tracking.

Aravind Elanjimattathil Vijayan, Andrei Cramariuc, Mattia Risiglione, Christian Gehring, Marco Hutter

CoRR, July, 2025

Feature-Based vs. GAN-Based Learning from Demonstrations: When and Why.

Chenhao Li, Marco Hutter, Andreas Krause

CoRR, July, 2025

Building Forest Inventories with Autonomous Legged Robots - System, Lessons, and Challenges Ahead.

Matías Mattamala, Nived Chebrolu, Jonas Frey, Leonard Freißmuth, Haedam Oh, Benoit Casseau, Marco Hutter, Maurice F. Fallon

CoRR, June, 2025

Risk-Guided Diffusion: Toward Deploying Robot Foundation Models in Space, Where Failure Is Not An Option.

Rohan Thakker, Adarsh Patnaik, Vince Kurtz, Jonas Frey, Jonathan Becktor, Sangwoo Moon, Rob Royce, Marcel Kaufmann, Georgios Georgakis, Pascal Roth, Joel Burdick, Marco Hutter, Shehryar Khattak

CoRR, June, 2025

Learning Accurate Whole-body Throwing with High-frequency Residual Policy and Pullback Tube Acceleration.

Yuntao Ma, Yang Liu, Kaixian Qu, Marco Hutter

CoRR, June, 2025

Improving Long-Range Navigation with Spatially-Enhanced Recurrent Memory via End-to-End Reinforcement Learning.

Fan Yang, Per Frivik, David Hoeller, Chen Wang, Cesar Cadena, Marco Hutter

CoRR, June, 2025

Motion Priors Reimagined: Adapting Flat-Terrain Skills for Complex Quadruped Mobility.

Zewei Zhang, Chenhao Li, Takahiro Miki, Marco Hutter

CoRR, May, 2025

Parkour in the Wild: Learning a General and Extensible Agile Locomotion Policy Using Multi-expert Distillation and RL Fine-tuning.

Nikita Rudin, Junzhe He, Joshua Aurand, Marco Hutter

CoRR, May, 2025

TartanGround: A Large-Scale Dataset for Ground Robot Perception and Navigation.

Manthan Patel, Fan Yang, Yuheng Qiu, Cesar Cadena, Sebastian A. Scherer, Marco Hutter, Wenshan Wang

CoRR, May, 2025

FOCI: Trajectory Optimization on Gaussian Splats.

Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm, Vaishakh Patil, Jesus Tordesillas, Marco Hutter

CoRR, May, 2025

CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments.

Shehryar Khattak, Timon Homberger, Lukas Bernreiter, Julian Nubert, Olov Andersson, Roland Siegwart, Kostas Alexis, Marco Hutter

CoRR, May, 2025

DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition.

Yuki Kadokawa, Jonas Frey, Takahiro Miki, Takamitsu Matsubara, Marco Hutter

CoRR, May, 2025

Learned Perceptive Forward Dynamics Model for Safe and Platform-aware Robotic Navigation.

Pascal Roth, Jonas Frey, Cesar Cadena, Marco Hutter

CoRR, April, 2025

Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics.

Jonas Frey, Turcan Tuna, Lanke Frank Tarimo Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice F. Fallon, Cesar Cadena, Marco Hutter

CoRR, April, 2025

Offline Robotic World Model: Learning Robotic Policies without a Physics Simulator.

Chenhao Li, Andreas Krause, Marco Hutter

CoRR, April, 2025

Diffusion Based Robust LiDAR Place Recognition.

Benjamin Krummenacher, Jonas Frey, Turcan Tuna, Olga Vysotska, Marco Hutter

CoRR, April, 2025

Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs.

Julian Nubert, Turcan Tuna, Jonas Frey, Cesar Cadena, Katherine J. Kuchenbecker, Shehryar Khattak, Marco Hutter

CoRR, April, 2025

LEVA: A high-mobility logistic vehicle with legged suspension.

Marco Arnold, Lukas Hildebrandt, Kaspar Janssen, Efe Ongan, Pascal Bürge, Ádám Gyula Gábriel, James Kennedy, Rishi Lolla, Quanisha Oppliger, Micha Schaaf, Joseph Church, Michael Fritsche, Victor Klemm, Turcan Tuna, Giorgio Valsecchi, Cedric Weibel, Michael Wüthrich, Marco Hutter

CoRR, March, 2025

Nancy Test Site Digital Twin / Map.

Turcan Tuna, Pascal Roth, Francesca Bray, Victor Klemm, Marco Hutter

Dataset, March, 2025

Scalable Multi-Robot Cooperation for Multi-Goal Tasks Using Reinforcement Learning.

Tianxu An, Joonho Lee, Marko Bjelonic, Flavio De Vincenti, Marco Hutter

IEEE Robotics Autom. Lett., February, 2025

Learning Quiet Walking for a Small Home Robot.

Ryo Watanabe, Takahiro Miki, Fan Shi, Yuki Kadokawa, Filip Bjelonic, Kento Kawaharazuka, Andrei Cramariuc, Marco Hutter

CoRR, February, 2025

DFM: Deep Fourier Mimic for Expressive Dance Motion Learning.

Ryo Watanabe, Chenhao Li, Marco Hutter

CoRR, February, 2025

Dynamic object goal pushing with mobile manipulators through model-free constrained reinforcement learning.

Ioannis Dadiotis, Mayank Mittal, Nikolaos G. Tsagarakis, Marco Hutter

CoRR, February, 2025

Toward Task Generalization via Memory Augmentation in Meta-Reinforcement Learning.

Kaixi Bao, Chenhao Li, Yarden As, Andreas Krause, Marco Hutter

CoRR, February, 2025

Enhancing Robotic Precision in Construction: A Modular Factor Graph-Based Framework to Deflection and Backlash Compensation Using High-Accuracy Accelerometers.

Julien Kindle, Michael Loetscher, Andrea Alessandretti, César Cadena, Marco Hutter

IEEE Robotics Autom. Lett., January, 2025

Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics.

Chenhao Li, Andreas Krause, Marco Hutter

CoRR, January, 2025

Learning coordinated badminton skills for legged manipulators.

Yuntao Ma, Andrei Cramariuc, Farbod Farshidian, Marco Hutter

Sci. Robotics, 2025

Attention-based map encoding for learning generalized legged locomotion.

Junzhe He, Chong Zhang, Fabian Jenelten, Ruben Grandia, Moritz Bächer, Marco Hutter

Sci. Robotics, 2025

RoboWrangler: Toward Rope-based Grasping for Mobile Manipulation.

Christian Friedrich, Mario Gomez-Andreu, Gabriel Métois, Fan Shi, Marco Hutter, Robert Baines

Proceedings of the 8th IEEE International Conference on Soft Robotics, 2025

ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images.

Yanqing Shen, Turcan Tuna, Marco Hutter, César Cadena, Nanning Zheng

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2025

2024

RoadRunner M&M - Learning Multi-Range Multi-Resolution Traversability Maps for Autonomous Off-Road Navigation.

Manthan Patel, Jonas Frey, Deegan Atha, Patrick Spieler, Marco Hutter, Shehryar Khattak

IEEE Robotics Autom. Lett., December, 2024

Data for "Attention-Based Map Encoding for Learning Generalized Legged Locomotion".

Junzhe He, Chong Zhang, Fabian Jenelten, Ruben Grandia, Moritz Bächer, Marco Hutter

Dataset, December, 2024

Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation.

Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter

IEEE Robotics Autom. Lett., November, 2024

DTC: Deep Tracking Control.

Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter

Sci. Robotics, January, 2024

X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments.

Turcan Tuna, Julian Nubert, Yoshua Nava, Shehryar Khattak, Marco Hutter

IEEE Trans. Robotics, 2024

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

IEEE Trans. Robotics, 2024

Learning robust autonomous navigation and locomotion for wheeled-legged robots.

Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter

Sci. Robotics, 2024

ANYmal parkour: Learning agile navigation for quadrupedal robots.

David Hoeller, Nikita Rudin, Dhionis V. Sako, Marco Hutter

Sci. Robotics, 2024

Learning Adaptive Controller for Hydraulic Machinery Automation.

Fang Nan, Marco Hutter

IEEE Robotics Autom. Lett., 2024

Data-Efficient Task Generalization via Probabilistic Model-Based Meta Reinforcement Learning.

Arjun Bhardwaj, Jonas Rothfuss, Bhavya Sukhija, Yarden As, Marco Hutter, Stelian Coros, Andreas Krause

IEEE Robotics Autom. Lett., 2024

A framework for collaborative multi-robot mapping using spectral graph wavelets.

Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena

Int. J. Robotics Res., 2024

Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned.

Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matías Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark W. Mueller, Maurice F. Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis

Field Robotics, 2024

Continuous-Time State Estimation Methods in Robotics: A Survey.

William Talbot, Julian Nubert, Turcan Tuna, César Cadena, Frederike Dümbgen, Jesus Tordesillas, Timothy D. Barfoot, Marco Hutter

CoRR, 2024

DiffSim2Real: Deploying Quadrupedal Locomotion Policies Purely Trained in Differentiable Simulation.

Joshua Bagajo, Clemens Schwarke, Victor Klemm, Ignat Georgiev, Jean-Pierre Sleiman, Jesus Tordesillas, Animesh Garg, Marco Hutter

CoRR, 2024

IPPON: Common Sense Guided Informative Path Planning for Object Goal Navigation.

Kaixian Qu, Jie Tan, Tingnan Zhang, Fei Xia, Cesar Dario Cadena Lerma, Marco Hutter

CoRR, 2024

ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments.

Lorenzo Terenzi, Julian Nubert, Pol Eyschen, Pascal Roth, Simin Fei, Edo Jelavic, Marco Hutter

CoRR, 2024

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation.

Jing Yuan Luo, Yunlong Song, Victor Klemm, Fan Shi, Davide Scaramuzza, Marco Hutter

CoRR, 2024

Obstacle-Avoidant Leader Following with a Quadruped Robot.

Carmen Scheidemann, Lennart Werner, Victor Reijgwart, Andrei Cramariuc, Joris Chomarat, Jia-Ruei Chiu, Roland Siegwart, Marco Hutter

CoRR, 2024

MARLadona - Towards Cooperative Team Play Using Multi-Agent Reinforcement Learning.

Zichong Li, Filip Bjelonic, Victor Klemm, Marco Hutter

CoRR, 2024

Robust Ladder Climbing with a Quadrupedal Robot.

Dylan Vogel, Robert Baines, Joseph Church, Julian Lotzer, Karl Werner, Marco Hutter

CoRR, 2024

Whole-body end-effector pose tracking.

Tifanny Portela, Andrei Cramariuc, Mayank Mittal, Marco Hutter

CoRR, 2024

An Efficient Multi-Robot Arm Coordination Strategy for Pick-and-Place Tasks using Reinforcement Learning.

Tizian Jermann, Hendrik Kolvenbach, Fidel Esquivel Estay, Koen Krämer, Marco Hutter

CoRR, 2024

Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild.

Turcan Tuna, Julian Nubert, Patrick Pfreundschuh, Cesar Cadena, Shehryar Khattak, Marco Hutter

CoRR, 2024

MultiViPerFrOG: A Globally Optimized Multi-Viewpoint Perception Framework for Camera Motion and Tissue Deformation.

Guido Caccianiga, Julian Nubert, Cesar Cadena, Marco Hutter, Katherine J. Kuchenbecker

CoRR, 2024

ROS-LLM: A ROS framework for embodied AI with task feedback and structured reasoning.

Christopher E. Mower, Yuhui Wan, Hongzhan Yu, Antoine Grosnit, Jonas Gonzalez-Billandon, Matthieu Zimmer, Jinlong Wang, Xinyu Zhang, Yao Zhao, Anbang Zhai, Puze Liu, Davide Tateo, Cesar Cadena, Marco Hutter, Jan Peters, Guangjian Tian, Yuzheng Zhuang, Kun Shao, Xingyue Quan, Jianye Hao, Jun Wang, Haitham Bou-Ammar

CoRR, 2024

Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot.

Julia Richter, Hendrik Kolvenbach, Giorgio Valsecchi, Marco Hutter

CoRR, 2024

Cybathlon - Legged Mobile Assistance for Quadriplegics.

Carmen Scheidemann, Andrei Cramariuc, Marco Hutter

CoRR, 2024

Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment.

Matías Mattamala, Nived Chebrolu, Benoit Casseau, Leonard Freißmuth, Jonas Frey, Turcan Tuna, Marco Hutter, Maurice F. Fallon

CoRR, 2024

Learning Quadrupedal Locomotion via Differentiable Simulation.

Clemens Schwarke, Victor Klemm, Jesus Tordesillas, Jean-Pierre Sleiman, Marco Hutter

CoRR, 2024

RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving.

Jonas Frey, Shehryar Khattak, Manthan Patel, Deegan Atha, Julian Nubert, Curtis Padgett, Marco Hutter, Patrick Spieler

CoRR, 2024

Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks.

Tianxu An, Joonho Lee, Marko Bjelonic, Flavio De Vincenti, Marco Hutter

CoRR, 2024

Dense 3D Reconstruction Through Lidar: A Comparative Study on Ex-vivo Porcine Tissue.

Guido Caccianiga, Julian Nubert, Marco Hutter, Katherine J. Kuchenbecker

CoRR, 2024

Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers.

Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros

Proceedings of the Robotics: Science and Systems XX, 2024

Global Path Planning for Autonomous Vehicles in Orchards and Vineyards.

Timo Schönegg, Turcan Tuna, Fan Yang, Gabriel Waibel, Matías Mattamala, Marco Hutter

Proceedings of the 13th International Workshop on Robot Motion and Control, 2024

Learning Agile Locomotion on Risky Terrains.

Chong Zhang, Nikita Rudin, David Hoeller, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Radiance Fields for Robotic Teleoperation.

Maximum Wilder-Smith, Vaishakh Patil, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Dynamic Throwing with Robotic Material Handling Machines.

Lennart Werner, Fang Nan, Pol Eyschen, Filippo A. Spinelli, Hongyi Yang, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Accurate power consumption estimation method makes walking robots energy efficient and quiet.

Giorgio Valsecchi, Andrea Vicari, Fabian Tischhauser, Manolo Garabini, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools.

Filippo A. Spinelli, Pascal Egli, Julian Nubert, Fang Nan, Thilo Bleumer, Patrick Goegler, Stephan Brockes, Ferdinand Hofmann, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

IN-Sight: Interactive Navigation through Sight.

Philipp Schoch, Fan Yang, Yuntao Ma, Stefan Leutenegger, Marco Hutter, Quentin Leboutet

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Exploring Constrained Reinforcement Learning Algorithms for Quadrupedal Locomotion.

Joonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

Motion Primitives Planning For Center-Articulated Vehicles.

Jiangpeng Hu, Fan Yang, Fang Nan, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

ICGNet: A Unified Approach for Instance-Centric Grasping.

René Zurbrügg, Yifan Liu, Francis Engelmann, Suryansh Kumar, Marco Hutter, Vaishakh Patil, Fisher Yu

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End.

Chong Zhang, Jin Jin, Jonas Frey, Nikita Rudin, Matías Mattamala, César Cadena, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies.

Alexander Spiridonov, Fabio Buehler, Moriz Berclaz, Valerio Schelbert, Jorit Geurts, Elena Krasnova, Emma Steinke, Jonas Toma, Joschua Wuethrich, Recep Polat, Wim Zimmermann, Philip Arm, Nikita Rudin, Hendrik Kolvenbach, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning.

Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

ViPlanner: Visual Semantic Imperative Learning for Local Navigation.

Pascal Roth, Julian Nubert, Fan Yang, Mayank Mittal, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Symmetry Considerations for Learning Task Symmetric Robot Policies.

Mayank Mittal, Nikita Rudin, Victor Klemm, Arthur Allshire, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Learning to walk in confined spaces using 3D representation.

Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg.

Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Perceptive Pedipulation with Local Obstacle Avoidance.

Jonas Stolle, Philip Arm, Mayank Mittal, Marco Hutter

Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024

Fast Perception for Human-Robot Handovers with Legged Manipulators.

Andreea Tulbure, Firas Abi-Farraj, Marco Hutter

Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction, 2024

TULIP: Transformer for Upsampling of LiDAR Point Clouds.

Bin Yang, Patrick Pfreundschuh, Roland Siegwart, Marco Hutter, Peyman Moghadam, Vaishakh Patil

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2024

Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models.

Mike Zhang, Kaixian Qu, Vaishakh Patil, Cesar Cadena, Marco Hutter

Proceedings of the Conference on Robot Learning, 6-9 November 2024, Munich, Germany., 2024

Learning to Open and Traverse Doors with a Legged Manipulator.

Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter

Proceedings of the Conference on Robot Learning, 6-9 November 2024, Munich, Germany., 2024

Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation.

Jean-Pierre Sleiman, Mayank Mittal, Marco Hutter

Proceedings of the Conference on Robot Learning, 6-9 November 2024, Munich, Germany., 2024

Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot.

Stefan Leuthard, Timo Eugster, Nicolas Faesch, Riccardo Feingold, Connor Flynn, Michael Fritsche, Nicolas Hürlimann, Elena Morbach, Fabian Tischhauser, Matthias Müller, Markus Montenegro, Valerio Schelbert, Jia-Ruei Chiu, Philip Arm, Marco Hutter

Proceedings of the Walking Robots into Real World, 2024

27 Years of Climbing and Walking Robots - Are We There?

Marco Hutter

Proceedings of the Walking Robots into Real World, 2024

2023

LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems.

Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter

IEEE Trans. Robotics, December, 2023

A framework for robotic excavation and dry stone construction using on-site materials.

Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter

Sci. Robotics, November, 2023

Barry: A High-Payload and Agile Quadruped Robot.

Giorgio Valsecchi, Nikita Rudin, Lennart Nachtigall, Konrad Mayer, Fabian Tischhauser, Marco Hutter

IEEE Robotics Autom. Lett., November, 2023

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning.

Anqiao Li, Chenyu Yang, Jonas Frey, Joonho Lee, Cesar Cadena, Marco Hutter

IEEE Robotics Autom. Lett., November, 2023

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments.

Changan Chen, Jonas Frey, Philip Arm, Marco Hutter

IEEE Robotics Autom. Lett., November, 2023

Perceptive Locomotion Through Nonlinear Model-Predictive Control.

Ruben Grandia, Fabian Jenelten, Shaohui Yang, Farbod Farshidian, Marco Hutter

IEEE Trans. Robotics, October, 2023

Trajectory Optimization Framework for Rehabilitation Robots With Multi-Workspace Objectives and Constraints.

Michael Sommerhalder, Yves Zimmermann, Leonardo Simovic, Marco Hutter, Peter Wolf, Robert Riener

IEEE Robotics Autom. Lett., October, 2023

Dataset for the paper "A framework for robotic excavation and dry stone construction using on-site materials".

Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Ilmar Hurkxkens, Lauren Vasey, Margarita Chli, Fabio Gramazio, Matthias Kohler, Marco Hutter

Dataset, October, 2023

Human-Robot Attachment System for Exoskeletons: Design and Performance Analysis.

Yves Zimmermann, Jaeyong Song, Cédric Deguelle, Julia Läderach, Lingfei Zhou, Marco Hutter, Robert Riener, Peter Wolf

IEEE Trans. Robotics, August, 2023

DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots.

Ruben Grandia, Farbod Farshidian, Espen Knoop, Christian Schumacher, Marco Hutter, Moritz Bächer

ACM Trans. Graph., August, 2023

Versatile multicontact planning and control for legged loco-manipulation.

Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter

Sci. Robotics, August, 2023

Scientific exploration of challenging planetary analog environments with a team of legged robots.

Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Tertius Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter

Sci. Robotics, July, 2023

ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton for Manipulation and Joint-Oriented Training in All Stages of Rehabilitation.

Yves Zimmermann, Michael Sommerhalder, Peter Wolf, Robert Riener, Marco Hutter

IEEE Trans. Robotics, June, 2023

Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments.

Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg

IEEE Robotics Autom. Lett., June, 2023

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation.

Elena Arcari, Maria Vittoria Minniti, Anna Scampicchio, Andrea Carron, Farbod Farshidian, Marco Hutter, Melanie N. Zeilinger

IEEE Robotics Autom. Lett., June, 2023

Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators.

Filip Bjelonic, Joonho Lee, Philip Arm, Dhionis V. Sako, Davide Tateo, Jan Peters, Marco Hutter

IEEE Robotics Autom. Lett., March, 2023

ArtPlanner: Robust Legged Robot Navigation in the Field.

Lorenz Wellhausen, Marco Hutter

Field Robotics, January, 2023

PLASTR: Planning for Autonomous Sampling-Based Trowelling.

Mads A. Kuhlmann-Jørgensen, Johannes Pankert, Lukasz L. Pietrasik, Marco Hutter

IEEE Robotics Autom. Lett., 2023

TULIP: Transformer for Upsampling of LiDAR Point Cloud.

Bin Yang, Patrick Pfreundschuh, Roland Siegwart, Marco Hutter, Peyman Moghadam, Vaishakh Patil

CoRR, 2023

DTC: Deep Tracking Control - A Unifying Approach to Model-Based Planning and Reinforcement-Learning for Versatile and Robust Locomotion.

Fabian Jenelten, Junzhe He, Farbod Farshidian, Marco Hutter

CoRR, 2023

Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion.

Joonho Lee, Lukas Schroth, Victor Klemm, Marko Bjelonic, Alexander Reske, Marco Hutter

CoRR, 2023

PyPose v0.6: The Imperative Programming Interface for Robotics.

Zitong Zhan, Xiangfu Li, Qihang Li, Haonan He, Abhinav Pandey, Haitao Xiao, Yangmengfei Xu, Xiangyu Chen, Kuan Xu, Kun Cao, Zhipeng Zhao, Zihan Wang, Huan Xu, Zihang Fang, Yutian Chen, Wentao Wang, Xu Fang, Yi Du, Tianhao Wu, Xiao Lin, Yuheng Qiu, Fan Yang, Jingnan Shi, Shaoshu Su, Yiren Lu, Taimeng Fu, Karthik Dantu, Jiajun Wu, Lihua Xie, Marco Hutter, Luca Carlone, Sebastian A. Scherer, Daning Huang, Yaoyu Hu, Junyi Geng, Chen Wang

CoRR, 2023

Towards Autonomous Excavation Planning.

Lorenzo Terenzi, Marco Hutter

CoRR, 2023

Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation.

Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter

CoRR, 2023

RAYEN: Imposition of Hard Convex Constraints on Neural Networks.

Jesus Tordesillas, Jonathan P. How, Marco Hutter

CoRR, 2023

ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments.

Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Pooria Poorsarvi Tehrani, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, Animesh Garg

CoRR, 2023

Robotic Monitoring of Habitats: The Natural Intelligence Approach.

Franco Angelini, Pierangela Angelini, Claudia Angiolini, Simonetta Bagella, Fabio Bonomo, Marco Caccianiga, Cosimo Della Santina, Daniela Gigante, Marco Hutter, Thrishantha Nanayakkara, Paolo Remagnino, Diego Torricelli, Manolo Garabini

IEEE Access, 2023

iPlanner: Imperative Path Planning.

Fan Yang, Chen Wang, Cesar Cadena, Marco Hutter

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Fast Traversability Estimation for Wild Visual Navigation.

Jonas Frey, Matías Mattamala, Nived Chebrolu, Cesar Cadena, Maurice F. Fallon, Marco Hutter

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

Towards Legged Locomotion on Steep Planetary Terrain.

Giorgio Valsecchi, Cedric Weibel, Hendrik Kolvenbach, Marco Hutter

IROS, 2023

Learning Contact-Based State Estimation for Assembly Tasks.

Johannes Pankert, Marco Hutter

IROS, 2023

MEM: Multi-Modal Elevation Mapping for Robotics and Learning.

Gian Erni, Jonas Frey, Takahiro Miki, Matías Mattamala, Marco Hutter

IROS, 2023

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning.

Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators.

Yuntao Ma, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Event-based Agile Object Catching with a Quadrupedal Robot.

Benedek Forrai, Takahiro Miki, Daniel Gehrig, Marco Hutter, Davide Scaramuzza

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

End-Effector Pose Estimation and Control for 3D Printing with Articulated Excavators.

Grzegorz Malczyk, Marco Hutter

Proceedings of the 21st International Conference on Advanced Robotics, 2023

PyPose: A Library for Robot Learning with Physics-based Optimization.

Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Kun Cao, Yi Du, Han Wang, Huai Yu, Shanzhao Wang, Siyu Chen, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Lihua Xie, Luca Carlone, Marco Hutter, Sebastian A. Scherer

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2023

Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks.

Clemens Schwarke, Victor Klemm, Matthijs van der Boon, Marko Bjelonic, Marco Hutter

Proceedings of the Conference on Robot Learning, 2023

Actively Variable Transmission Robotic Leg.

Giorgio Valsecchi, Fabian Tischhauser, Jonas Junger, Yann Bernarnd, Marco Hutter

Proceedings of the Synergetic Cooperation Between Robots and Humans - Proceedings of the CLAWAR 2023 Conference, 2023

2022

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.

Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis

Field Robotics, March, 2022

Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot.

Hendrik Kolvenbach, Philip Arm, Elias Hampp, Alexander Dietsche, Valentin Tertius Bickel, Benjamin Sun, Christoph Meyer, Marco Hutter

Field Robotics, March, 2022

Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester.

Edo Jelavic, Dominic Jud, Pascal Egli, Marco Hutter

Field Robotics, March, 2022

Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning.

Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter

IEEE Trans. Robotics, 2022

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems.

Fabian Jenelten, Ruben Grandia, Farbod Farshidian, Marco Hutter

IEEE Trans. Robotics, 2022

Adaptive Feet for Quadrupedal Walkers.

Manuel Giuseppe Catalano, Mathew Jose Pollayil, Giorgio Grioli, Giorgio Valsecchi, Hendrik Kolvenbach, Marco Hutter, Antonio Bicchi, Manolo Garabini

IEEE Trans. Robotics, 2022

CERBERUS in the DARPA Subterranean Challenge.

Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis

Sci. Robotics, 2022

Learning robust perceptive locomotion for quadrupedal robots in the wild.

Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

Sci. Robotics, 2022

Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning.

Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter

IEEE Robotics Autom. Lett., 2022

A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement.

Jens Reinecke, Alexander Dietrich, Anton Leonhard Shu, Bastian Deutschmann, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Design and Motion Planning for a Reconfigurable Robotic Base.

Johannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Deep Measurement Updates for Bayes Filters.

Johannes Pankert, Maria Vittoria Minniti, Lorenz Wellhausen, Marco Hutter

IEEE Robotics Autom. Lett., 2022

A Reconfigurable Leg for Walking Robots.

Fang Nan, Hendrik Kolvenbach, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Adaptive CLF-MPC With Application to Quadrupedal Robots.

Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators.

Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Neural Scene Representation for Locomotion on Structured Terrain.

David Hoeller, Nikita Rudin, Christopher B. Choy, Animashree Anandkumar, Marco Hutter

IEEE Robotics Autom. Lett., 2022

A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning.

Pascal Egli, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Soil-Adaptive Excavation Using Reinforcement Learning.

Pascal Egli, Dominique Gaschen, Simon Kerscher, Dominic Jud, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Meta Reinforcement Learning for Optimal Design of Legged Robots.

Álvaro Belmonte-Baeza, Joonho Lee, Giorgio Valsecchi, Marco Hutter

IEEE Robotics Autom. Lett., 2022

Constrained stochastic optimal control with learned importance sampling: A path integral approach.

Jan Carius, René Ranftl, Farbod Farshidian, Marco Hutter

Int. J. Robotics Res., 2022

Offline motion libraries and online MPC for advanced mobility skills.

Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian Suzano Medeiros, Vuk Pajovic, Edo Jelavic, Stelian Coros, Marco Hutter

Int. J. Robotics Res., 2022

Unsupervised Continual Semantic Adaptation through Neural Rendering.

Zhizheng Liu, Francesco Milano, Jonas Frey, Marco Hutter, Roland Siegwart, Hermann Blum, Cesar Cadena

CoRR, 2022

PyPose: A Library for Robot Learning with Physics-based Optimization.

Chen Wang, Dasong Gao, Kuan Xu, Junyi Geng, Yaoyu Hu, Yuheng Qiu, Bowen Li, Fan Yang, Brady G. Moon, Abhinav Pandey, Aryan, Jiahe Xu, Tianhao Wu, Haonan He, Daning Huang, Zhongqiang Ren, Shibo Zhao, Taimeng Fu, Pranay Reddy, Xiao Lin, Wenshan Wang, Jingnan Shi, Rajat Talak, Han Wang, Huai Yu, Shanzhao Wang, Ananth Kashyap, Rohan Bandaru, Karthik Dantu, Jiajun Wu, Luca Carlone, Marco Hutter, Sebastian A. Scherer

CoRR, 2022

Present and Future of SLAM in Extreme Underground Environments.

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

CoRR, 2022

Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.

Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames

CoRR, 2022

Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments.

Paolo De Petris, Shehryar Khattak, Mihir Dharmadhikari, Gabriel Waibel, Huan Nguyen, Markus Montenegro, Nikhil Khedekar, Kostas Alexis, Marco Hutter

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2022

LiDAR-guided object search and detection in Subterranean Environments.

Manthan Patel, Gabriel Waibel, Shehryar Khattak, Marco Hutter

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2022

Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain.

Robin Schmid, Deegan Atha, Frederik Schöller, Sharmita Dey, Seyed Abolfazl Fakoorian, Kyohei Otsu, Barry Ridge, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Ali-akbar Agha-mohammadi

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Advanced Skills by Learning Locomotion and Local Navigation End-to-End.

Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Learning-based Localizability Estimation for Robust LiDAR Localization.

Julian Nubert, Etienne Walther, Shehryar Khattak, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

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

Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Elevation Mapping for Locomotion and Navigation using GPU.

Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments.

Jonas Frey, David Hoeller, Shehryar Khattak, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Collision detection and identification for a legged manipulator.

Jessie van Dam, Andreea Tulbure, Maria Vittoria Minniti, Firas Abi-Farraj, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework.

Jin Cheng, Firas Abi-Farraj, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots.

Julian Nubert, Shehryar Khattak, Marco Hutter

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots.

Mihir Kulkarni, Mihir Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach.

Ibrahim Ibrahim, Farbod Farshidian, Jan Preisig, Perry Franklin, Paolo Rocco, Marco Hutter

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation.

Jia-Ruei Chiu, Jean-Pierre Sleiman, Mayank Mittal, Farbod Farshidian, Marco Hutter

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Collaborative Robot Mapping using Spectral Graph Analysis.

Lukas Bernreiter, Shehryar Khattak, Lionel Ott, Roland Siegwart, Marco Hutter, César Cadena

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics.

Manuel Y. Galliker, Noel Csomay-Shanklin, Ruben Grandia, Andrew J. Taylor, Farbod Farshidian, Marco Hutter, Aaron D. Ames

Proceedings of the 21st IEEE-RAS International Conference on Humanoid Robots, 2022

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning.

Joonho Lee, Marko Bjelonic, Marco Hutter

Proceedings of the Robotics in Natural Settings, 2022

A Survey of Wheeled-Legged Robots.

Marko Bjelonic, Victor Klemm, Joonho Lee, Marco Hutter

Proceedings of the Robotics in Natural Settings, 2022

2021

Grasping and Object Reorientation for Autonomous Construction of Stone Structures.

Martin Wermelinger, Ryan Luke Johns, Fabio Gramazio, Matthias Kohler, Marco Hutter

IEEE Robotics Autom. Lett., 2021

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation.

Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter

IEEE Robotics Autom. Lett., 2021

Learning a State Representation and Navigation in Cluttered and Dynamic Environments.

David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter

IEEE Robotics Autom. Lett., 2021

Towards automating construction tasks: Large-scale object mapping, segmentation, and manipulation.

Ruben Mascaro, Martin Wermelinger, Marco Hutter, Margarita Chli

J. Field Robotics, 2021

Perceptive whole-body planning for multilegged robots in confined spaces.

Russell Buchanan, Lorenz Wellhausen, Marko Bjelonic, Tirthankar Bandyopadhyay, Navinda Kottege, Marco Hutter

J. Field Robotics, 2021

Solving Occlusion in Terrain Mapping with Neural Networks.

Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter

CoRR, 2021

HEAP - The autonomous walking excavator.

Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Marco Hutter

CoRR, 2021

Towards Autonomous Robotic Precision Harvesting.

Edo Jelavic, Dominic Jud, Pascal Egli, Marco Hutter

CoRR, 2021

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

Lorenz Wellhausen, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays.

Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Çizmeci, Douwe Dresscher, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

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

Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

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

Haoyang Ye, Huaiyang Huang, Marco Hutter, Timothy Sandy, Ming Liu

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Real-time Optimal Navigation Planning Using Learned Motion Costs.

Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Imitation Learning from MPC for Quadrupedal Multi-Gait Control.

Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Self-supervised Learning of LiDAR Odometry for Robotic Applications.

Julian Nubert, Shehryar Khattak, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks.

Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Edo Jelavic, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

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

Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning.

Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

Simulation-Based Climbing Capability Analysis for Quadrupedal Robots.

Kentaro Uno, Giorgio Valsecchi, Marco Hutter, Kazuya Yoshida

Proceedings of the Robotics for Sustainable Future - CLAWAR 2021, Virtual Event, Japan, 30 August, 2021

2020

Learning quadrupedal locomotion over challenging terrain.

Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

Sci. Robotics, 2020

Safe Robot Navigation Via Multi-Modal Anomaly Detection.

Lorenz Wellhausen, René Ranftl, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet.

Giorgio Valsecchi, Ruben Grandia, Marco Hutter

IEEE Robotics Autom. Lett., 2020

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

Vassilios Tsounis, Mitja Alge, Joonho Lee, Farbod Farshidian, Marco Hutter

IEEE Robotics Autom. Lett., 2020

An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation.

Jens Reinecke, Bastian Deutschmann, Alexander Dietrich, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Perceptive Model Predictive Control for Continuous Mobile Manipulation.

Johannes Pankert, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain.

Vivian Suzano Medeiros, Edo Jelavic, Marko Bjelonic, Roland Siegwart, Marco A. Meggiolaro, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Perceptive Locomotion in Rough Terrain - Online Foothold Optimization.

Fabian Jenelten, Takahiro Miki, Aravind Elanjimattathil Vijayan, Marko Bjelonic, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots.

Michael Chadwick, Hendrik Kolvenbach, Fabio Dubois, Hong Fai Lau, Marco Hutter

IEEE Robotics Autom. Lett., 2020

MPC-Net: A First Principles Guided Policy Search.

Jan Carius, Farbod Farshidian, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization.

Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Marco Hutter

IEEE Robotics Autom. Lett., 2020

Towards autonomous inspection of concrete deterioration in sewers with legged robots.

Hendrik Kolvenbach, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice F. Fallon, Marco Hutter

J. Field Robotics, 2020

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

Tung Dang, Marco Tranzatto, Shehryar Khattak, Frank Mascarich, Kostas Alexis, Marco Hutter

J. Field Robotics, 2020

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions.

Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames

Proceedings of the Robotics: Science and Systems XVI, 2020

Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot.

Napat Karnchanachari, Miguel de la Iglesia Valls, David Hoeller, Marco Hutter

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.

Yves Zimmermann, Emek Baris Küçüktabak, Farbod Farshidian, Robert Riener, Marco Hutter

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.

Michael Sommerhalder, Yves Zimmermann, Burak Cizmeci, Robert Riener, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators.

Edo Jelavic, Yannick Berdou, Dominic Jud, Simon Kerscher, Marco Hutter

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Towards RL-Based Hydraulic Excavator Automation.

Pascal Egli, Marco Hutter

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.

Dominik Mannhart, Fabio Dubois, Karen Bodie, Victor Klemm, Alessandro Morra, Marco Hutter

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Learning agile and dynamic motor skills for legged robots.

Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

Sci. Robotics, 2019

ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot.

Yves Zimmermann, Alessandro Forino, Robert Riener, Marco Hutter

IEEE Robotics Autom. Lett., 2019

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

Lorenz Wellhausen, Alexey Dosovitskiy, René Ranftl, Krzysztof Walas, Cesar Cadena, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints.

Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Whole-Body MPC for a Dynamically Stable Mobile Manipulator.

Maria Vittoria Minniti, Farbod Farshidian, Ruben Grandia, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Haptic Inspection of Planetary Soils With Legged Robots.

Hendrik Kolvenbach, Christian Bärtschi, Lorenz Wellhausen, Ruben Grandia, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Autonomous Free-Form Trenching Using a Walking Excavator.

Dominic Jud, Philipp Leemann, Simon Kerscher, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Dynamic Locomotion on Slippery Ground.

Fabian Jenelten, Jemin Hwangbo, Fabian Tresoldi, C. Dario Bellicoso, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Frequency-Aware Model Predictive Control.

Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, René Ranftl, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm.

Andrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Marco Hutter, Melanie N. Zeilinger

IEEE Robotics Autom. Lett., 2019

Trajectory Optimization for Legged Robots With Slipping Motions.

Jan Carius, René Ranftl, Vladlen Koltun, Marco Hutter

IEEE Robotics Autom. Lett., 2019

Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces.

Russell Buchanan, Tirthankar Bandyopadhyay, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Navinda Kottege

IEEE Robotics Autom. Lett., 2019

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots.

Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis V. Sako, F. Dante Tresoldi, Fabian Jenelten, Marco Hutter

IEEE Robotics Autom. Lett., 2019

The current state and future outlook of rescue robotics.

Jeffrey A. Delmerico, Stefano Mintchev, Alessandro Giusti, Boris Gromov, Kamilo Melo, Tomislav Horvat, Cesar Cadena, Marco Hutter, Auke Jan Ijspeert, Dario Floreano, Luca Maria Gambardella, Roland Siegwart, Davide Scaramuzza

J. Field Robotics, 2019

Learning agile and dynamic motor skills for legged robots.

Jemin Hwangbo, Joonho Lee, Alexey Dosovitskiy, Dario Bellicoso, Vassilios Tsounis, Vladlen Koltun, Marco Hutter

CoRR, 2019

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

Joonho Lee, Jemin Hwangbo, Marco Hutter

CoRR, 2019

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation.

Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Towards Jumping Locomotion for Quadruped Robots on the Moon.

Hendrik Kolvenbach, Elias Hampp, Patrick Barton, Radek Zenkl, Marco Hutter

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Whole-Body Motion Planning for Walking Excavators.

Edo Jelavic, Marco Hutter

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Feedback MPC for Torque-Controlled Legged Robots.

Ruben Grandia, Farbod Farshidian, René Ranftl, Marco Hutter

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.

Abel Gawel, Roland Siegwart, Marco Hutter, Timothy Sandy, Hermann Blum, Johannes Pankert, Koen Krämer, Luca Bartolomei, Selen Ercan, Farbod Farshidian, Margarita Chli, Fabio Gramazio

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization.

Tim Seyde, Jan Carius, Ruben Grandia, Farbod Farshidian, Marco Hutter

Proceedings of the International Conference on Robotics and Automation, 2019

Support Surface Estimation for Legged Robots.

Timon Homberger, Lorenz Wellhausen, Peter Fankhauser, Marco Hutter

Proceedings of the International Conference on Robotics and Automation, 2019

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot.

C. Dario Bellicoso, Koen Krämer, Markus Stäuble, Dhionis V. Sako, Fabian Jenelten, Marko Bjelonic, Marco Hutter

Proceedings of the International Conference on Robotics and Automation, 2019

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

Jakub Bednarek, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, Krzysztof Walas

Proceedings of the International Conference on Robotics and Automation, 2019

SpaceBok: A Dynamic Legged Robot for Space Exploration.

Philip Arm, Radek Zenkl, Patrick Barton, Lars Beglinger, Alex Dietsche, Luca Ferrazzini, Elias Hampp, Jan Hinder, Camille Huber, David Schaufelberger, Felix Schmitt, Benjamin Sun, Boris Stolz, Hendrik Kolvenbach, Marco Hutter

Proceedings of the International Conference on Robotics and Automation, 2019

ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot.

Christian Gehring, Peter Fankhauser, Linus Isler, Remo Diethelm, Samuel Bachmann, M. Potz, L. Gerstenberg, Marco Hutter

Proceedings of the Field and Service Robotics, 2019

Deep Value Model Predictive Control.

David Hoeller, Farbod Farshidian, Marco Hutter

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization.

Alexander W. Winkler, C. Dario Bellicoso, Marco Hutter, Jonas Buchli

IEEE Robotics Autom. Lett., 2018

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

Michael Neunert, Markus Stäuble, Markus Giftthaler, Carmine Dario Bellicoso, Jan Carius, Christian Gehring, Marco Hutter, Jonas Buchli

IEEE Robotics Autom. Lett., 2018

Per-Contact Iteration Method for Solving Contact Dynamics.

Jemin Hwangbo, Joonho Lee, Marco Hutter

IEEE Robotics Autom. Lett., 2018

Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization.

Peter Fankhauser, Michael Bloesch, Marco Hutter

IEEE Robotics Autom. Lett., 2018

Trajectory Optimization With Implicit Hard Contacts.

Jan Carius, René Ranftl, Vladlen Koltun, Marco Hutter

IEEE Robotics Autom. Lett., 2018

The Two-State Implicit Filter Recursive Estimation for Mobile Robots.

Michael Bloesch, Michael Burri, Hannes Sommer, Roland Siegwart, Marco Hutter

IEEE Robotics Autom. Lett., 2018

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots.

C. Dario Bellicoso, Fabian Jenelten, Christian Gehring, Marco Hutter

IEEE Robotics Autom. Lett., 2018

Editorial.

Marco Hutter, Roland Siegwart

J. Field Robotics, 2018

Deployment of an autonomous mobile manipulator at MBZIRC.

Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter

J. Field Robotics, 2018

Advances in real-world applications for legged robots.

C. Dario Bellicoso, Marko Bjelonic, Lorenz Wellhausen, Kai Holtmann, Fabian Günther, Marco Tranzatto, Peter Fankhauser, Marco Hutter

J. Field Robotics, 2018

An Adaptive Landing Gear for Extending the Operational Range of Helicopters.

Boris Stolz, Tim Brödermann, Enea Castiello, Gokula Englberger, Daniel Erne, Jan Gasser, Eric Hayoz, Stephan Müller, Lorin Muhlebach, Tobias Löw, Dominique Scheuer, Luca Vandeventer, Marko Bjelonic, Fabian Günther, Hendrik Kolvenbach, Mark A. Höpflinger, Marco Hutter

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.

Roman Kaslin, Hendrik Kolvenbach, Laura Paez, Klajd Lika, Marco Hutter

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Cable-Driven Actuation for Highly Dynamic Robotic Systems.

Jemin Hwangbo, Vassilios Tsounis, Hendrik Kolvenbach, Marco Hutter

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Skating with a Force Controlled Quadrupedal Robot.

Marko Bjelonic, C. Dario Bellicoso, Mehmet Efe Tiryaki, Marco Hutter

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Real-Time Dance Generation to Music for a Legged Robot.

Thomas Bi, Peter Fankhauser, Dario Bellicoso, Marco Hutter

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Greedy Stone Tower Creations with a Robotic Arm.

Martin Wermelinger, Fadri Furrer, Hironori Yoshida, Fabio Gramazio, Matthias Kohler, Roland Siegwart, Marco Hutter

Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence, 2018

Robust Rough-Terrain Locomotion with a Quadrupedal Robot.

Peter Fankhauser, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, Marco Hutter

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Planning and Control for Autonomous Excavation.

Dominic Jud, Gabriel Hottiger, Philipp Leemann, Marco Hutter

IEEE Robotics Autom. Lett., 2017

Control of a Quadrotor With Reinforcement Learning.

Jemin Hwangbo, Inkyu Sa, Roland Siegwart, Marco Hutter

IEEE Robotics Autom. Lett., 2017

Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback.

Michael Bloesch, Michael Burri, Sammy Omari, Marco Hutter, Roland Siegwart

Int. J. Robotics Res., 2017

ANYmal - toward legged robots for harsh environments.

Marco Hutter, Christian Gehring, Andreas Lauber, Fabian Günther, Carmine Dario Bellicoso, Vassilios Tsounis, Peter Fankhauser, Remo Diethelm, Samuel Bachmann, Michael Blösch, Hendrik Kolvenbach, Marko Bjelonic, Linus Isler, Konrad Meyer

Adv. Robotics, 2017

Robust damping of a ropeway gondola's wind oscillations with an actuated mass.

Alvaro Estandia, Marco Hutter

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Dynamic locomotion and whole-body control for quadrupedal robots.

C. Dario Bellicoso, Fabian Jenelten, Peter Fankhauser, Christian Gehring, Jemin Hwangbo, Marco Hutter

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Quadrupedal locomotion using trajectory optimization and hierarchical whole body control.

Christian Gehring, C. Dario Bellicoso, Peter Fankhauser, Stelian Coros, Marco Hutter

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Autonomous robotic stone stacking with online next best object target pose planning.

Fadri Furrer, Martin Wermelinger, Hironori Yoshida, Fabio Gramazio, Matthias Kohler, Roland Siegwart, Marco Hutter

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots.

Hendrik Kolvenbach, Marco Hutter

Proceedings of the Field and Service Robotics, 2017

Towards a Generic Solution for Inspection of Industrial Sites.

Marco Hutter, Remo Diethelm, Samuel Bachmann, Peter Fankhauser, Christian Gehring, Vassilios Tsounis, Andreas Lauber, Fabian Günther, Marko Bjelonic, Linus Isler, Hendrik Kolvenbach, Konrad Meyer, Mark A. Höpflinger

Proceedings of the Field and Service Robotics, 2017

Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials.

David Gonon, Dominic Jud, Peter Fankhauser, Marco Hutter

Proceedings of the Field and Service Robotics, 2017

Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC.

Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Marco Hutter

Proceedings of the Field and Service Robotics, 2017

2016

Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot.

Christian Gehring, Stelian Coros, Marco Hutter, Carmine Dario Bellicoso, Huub Heijnen, Remo Diethelm, Michael Bloesch, Peter Fankhauser, Jemin Hwangbo, Mark A. Hoepflinger, Roland Siegwart

IEEE Robotics Autom. Mag., 2016

A Primer on the Differential Calculus of 3D Orientations.

Michael Bloesch, Hannes Sommer, Tristan Laidlow, Michael Burri, Gabriel Nützi, Peter Fankhauser, Dario Bellicoso, Christian Gehring, Stefan Leutenegger, Marco Hutter, Roland Siegwart

CoRR, 2016

Collaborative localization of aerial and ground robots through elevation maps.

Roman Kaslin, Peter Fankhauser, Elena Stumm, Zachary Taylor, Elias Mueggler, Jeffrey A. Delmerico, Davide Scaramuzza, Roland Siegwart, Marco Hutter

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Coverage path planning for legged robots in unknown environments.

Dan Jia, Martin Wermelinger, Remo Diethelm, Philipp Krüsi, Marco Hutter

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

IBEX - A tele-operation and training device for walking excavators.

Marco Hutter, Thomas Braungardt, Fabian Grigis, Gabriel Hottiger, Dominic Jud, Michael Katz, Philipp Leemann, Paul Nemetz, Jonas Peschel, Jan Preisig, Nicolas Sollich, Miro Voellmy, Moritz Zimmermann, Samuel Zimmermann

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Navigation planning for legged robots in challenging terrain.

Martin Wermelinger, Peter Fankhauser, Remo Diethelm, Philipp Krüsi, Roland Siegwart, Marco Hutter

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.

Jemin Hwangbo, Carmine Dario Bellicoso, Peter Fankhauser, Marco Hutter

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

ANYmal - a highly mobile and dynamic quadrupedal robot.

Marco Hutter, Christian Gehring, Dominic Jud, Andreas Lauber, C. Dario Bellicoso, Vassilios Tsounis, Jemin Hwangbo, Karen Bodie, Peter Fankhauser, Michael Bloesch, Remo Diethelm, Samuel Bachmann, Amir Melzer, Mark A. Höpflinger

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Collaborative navigation for flying and walking robots.

Peter Fankhauser, Michael Bloesch, Philipp Krusi, Remo Diethelm, Martin Wermelinger, Thomas Schneider, Marcin Dymczyk, Marco Hutter, Roland Siegwart

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

ANYpulator: Design and control of a safe robotic arm.

Karen Bodie, C. Dario Bellicoso, Marco Hutter

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.

Peter Fankhauser, C. Dario Bellicoso, Christian Gehring, Renaud Dubé, Abel Gawel, Marco Hutter

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Perception-less terrain adaptation through whole body control and hierarchical optimization.

C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, Peter Fankhauser, Marco Hutter

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots, 2016

Robust Visual Place Recognition with Graph Kernels.

Elena Stumm, Christopher Mei, Simon Lacroix, Juan I. Nieto, Marco Hutter, Roland Siegwart

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.

Jemin Hwangbo, Christian Gehring, Dario Bellicoso, Peter Fankhauser, Roland Siegwart, Marco Hutter

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Dynamic trotting on slopes for quadrupedal robots.

Christian Gehring, C. Dario Bellicoso, Stelian Coros, Michael Blösch, Peter Fankhauser, Marco Hutter, Roland Siegwart

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Robust visual inertial odometry using a direct EKF-based approach.

Michael Blösch, Sammy Omari, Marco Hutter, Roland Siegwart

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Towards optimal force distribution for walking excavators.

Marco Hutter, Philipp Leemann, Stefan Stevsic, Andreas Michel, Dominic Jud, Mark A. Höpflinger, Roland Siegwart, Ruedi Figi, Christian Caduff, Markus Loher, Stefan Tagmann

Proceedings of the International Conference on Advanced Robotics, 2015

Kinect v2 for mobile robot navigation: Evaluation and modeling.

Peter Fankhauser, Michael Blösch, Diego Rodriguez, Ralf Kaestner, Marco Hutter, Roland Siegwart

Proceedings of the International Conference on Advanced Robotics, 2015

2014

Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped.

Marco Hutter, Christian Gehring, Mark A. Höpflinger, Michael Blösch, Roland Siegwart

IEEE Trans. Robotics, 2014

Quadrupedal locomotion using hierarchical operational space control.

Marco Hutter, Hannes Sommer, Christian Gehring, Mark A. Hoepflinger, Michael Blösch, Roland Siegwart

Int. J. Robotics Res., 2014

Fusion of optical flow and inertial measurements for robust egomotion estimation.

Michael Blösch, Sammy Omari, Peter Fankhauser, Hannes Sommer, Christian Gehring, Jemin Hwangbo, Mark A. Hoepflinger, Marco Hutter, Roland Siegwart

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.

Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Höpflinger, Peter Fankhauser, Roland Siegwart

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Towards automatic discovery of agile gaits for quadrupedal robots.

Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Peter Fankhauser, Markus A. Höpflinger, Roland Siegwart

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

2013

AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots.

Marco Hutter, Michael Blösch, Jonas Buchli, Claudio Semini, Stéphane Bazeille, Ludovic Righetti, Jeannette Bohg

Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2013

Reinforcement learning of single legged locomotion.

Peter Fankhauser, Marco Hutter, Christian Gehring, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

State estimation for legged robots on unstable and slippery terrain.

Michael Blösch, Christian Gehring, Peter Fankhauser, Marco Hutter, Mark A. Hoepflinger, Roland Siegwart

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Unsupervised identification and prediction of foothold robustness.

Mark A. Hoepflinger, Marco Hutter, Christian Gehring, Michael Blösch, Roland Siegwart

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Control of dynamic gaits for a quadrupedal robot.

Christian Gehring, Stelian Coros, Marco Hutter, Michael Blösch, Mark A. Hoepflinger, Roland Siegwart

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Kinematic batch calibration for legged robots.

Michael Blösch, Marco Hutter, Christian Gehring, Mark A. Höpflinger, Roland Siegwart

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

2012

Quadrupedal Robots with Stiff and Compliant Actuation.

C. David Remy, Marco Hutter, Mark A. Hoepflinger, Michael Blösch, Christian Gehring, Roland Siegwart

Autom., 2012

Hybrid Operational Space Control for Compliant Legged Systems.

Marco Hutter, Mark A. Hoepflinger, Christian Gehring, Michael Blösch, C. David Remy, Roland Siegwart

Proceedings of the Robotics: Science and Systems VIII, 2012

State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU.

Michael Blösch, Marco Hutter, Mark A. Hoepflinger, Stefan Leutenegger, Christian Gehring, C. David Remy, Roland Siegwart

Proceedings of the Robotics: Science and Systems VIII, 2012

2011

Walking and crawling with ALoF: a robot for autonomous locomotion on four legs.

C. David Remy, Oliver Baur, Martin Latta, Andi Lauber, Marco Hutter, Mark A. Hoepflinger, Cédric Pradalier, Roland Siegwart

Ind. Robot, 2011

ScarlETH: Design and control of a planar running robot.

Marco Hutter, C. David Remy, Mark A. Höpflinger, Roland Siegwart

Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

2010

SLIP running with an articulated robotic leg.

Marco Hutter, C. David Remy, Mark A. Höpflinger, Roland Siegwart

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Passive dynamic walking with quadrupeds - Extensions towards 3D.

C. David Remy, Marco Hutter, Roland Siegwart

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Haptic terrain classification for legged robots.

Mark A. Höpflinger, C. David Remy, Marco Hutter, Luciano Spinello, Roland Siegwart

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Adaptive control strategies for open-loop dynamic hopping.

Marco Hutter, C. David Remy, Roland Siegwart

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

2008

Modeling assembled-MEMS microrobots for wireless magnetic control.

Zoltán Nagy, Olgaç Ergeneman, Jake J. Abbott, Marco Hutter, Ann M. Hirt, Bradley J. Nelson

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008