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Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators


Jan 11, 2022
Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter

* 8 pages, accepted for RA-L 2022 

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Adaptive CLF-MPC With Application To Quadrupedal Robots


Dec 08, 2021
Maria Vittoria Minniti, Ruben Grandia, Farbod Farshidian, Marco Hutter

* IEEE Robotics and Automation Letters (Volume: 7, Issue: 1, Jan. 2022) 

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Deep Measurement Updates for Bayes Filters


Dec 01, 2021
Johannes Pankert, Maria Vittoria Minniti, Lorenz Wellhausen, Marco Hutter

* IEEE Robotics and Automation Letters, vol. 7, no. 1, pp. 414-421, Jan. 2022 

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Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots


Nov 11, 2021
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

* 8 pages, 5 figures. Submitted to the IEEE International Conference on Robotics and Automation, 2022. Code available at https://github.com/ntnu-arl/gbplanner_ros 

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Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning


Sep 24, 2021
Nikita Rudin, David Hoeller, Philipp Reist, Marco Hutter

* CoRL 2021 

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Solving Occlusion in Terrain Mapping with Neural Networks


Sep 15, 2021
Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter

* 11 pages 

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


Aug 17, 2021
Mattia Risiglione, Jean-Pierre Sleiman, Maria Vittoria Minniti, Burak Cizmeci, Douwe Dresscher, Marco Hutter

* Accepted as Contributed Paper at 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 

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Cat-like Jumping and Landing of Legged Robots in Low-gravity Using Deep Reinforcement Learning


Jun 17, 2021
Nikita Rudin, Hendrik Kolvenbach, Vassilios Tsounis, Marco Hutter

* Published in IEEE Transactions on Robotics: https://ieeexplore.ieee.org/document/9453856 Video: https://youtu.be/KQhlZa42fe4 

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HEAP -- The autonomous walking excavator


Jun 09, 2021
Dominic Jud, Simon Kerscher, Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Marco Hutter

* Automation in Construction, Volume 129, September 2021, 103783 

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Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks


Jun 08, 2021
Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Farbod Farshidian, Marco Hutter

* IEEE International Conference on Robotics and Automation (ICRA) 2021 

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


Jun 03, 2021
Hendrik Kolvenbach, Philip Arm, Elias Hampp, Alexander Dietsche, Valentin Bickel, Benjamin Sun, Christoph Meyer, Marco Hutter


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


Apr 23, 2021
Parker Ewen, Jean-Pierre Sleiman, Yuxin Chen, Wei-Chun Lu, Marco Hutter, Ram Vasudevan


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Towards Autonomous Robotic Precision Harvesting


Apr 20, 2021
Edo Jelavic, Dominic Jud, Pascal Egli, Marco Hutter


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Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots


Apr 09, 2021
Edo Jelavic, Farbod Farshidian, Marco Hutter


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3D Surfel Map-Aided Visual Relocalization with Learned Descriptors


Apr 08, 2021
Haoyang Ye, Huaiyang Huang, Marco Hutter, Timothy Sandy, Ming Liu

* To appear in ICRA 2021 

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Imitation Learning from MPC for Quadrupedal Multi-Gait Control


Mar 26, 2021
Alexander Reske, Jan Carius, Yuntao Ma, Farbod Farshidian, Marco Hutter


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


Mar 25, 2021
Magnus Gaertner, Marko Bjelonic, Farbod Farshidian, Marco Hutter


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


Mar 18, 2021
Mayank Mittal, David Hoeller, Farbod Farshidian, Marco Hutter, Animesh Garg


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Learning a State Representation and Navigation in Cluttered and Dynamic Environments


Mar 07, 2021
David Hoeller, Lorenz Wellhausen, Farbod Farshidian, Marco Hutter

* IEEE Robotics and Automation Letters 2021 
* 8 pages, 8 figures, 2 tables 

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Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation


Mar 01, 2021
Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Martin Wermelinger, Marco Hutter

* 8 Pages, 10 Figures. Submitted to the International Conference on Intelligent Robots and Systems (IROS), 2019 

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


Mar 01, 2021
Jean-Pierre Sleiman, Farbod Farshidian, Maria Vittoria Minniti, Marco Hutter

* 8 Pages, 8 Figures, 1 Table. To be published in IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 in Xi'an, China 

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


Jan 15, 2021
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter


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Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs


Dec 10, 2020
Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter


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Self-supervised Learning of LiDAR Odometry for Robotic Applications


Nov 10, 2020
Julian Nubert, Shehryar Khattak, Marco Hutter

* 7 pages, 6 figures, 3 tables 

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


Oct 30, 2020
Ruben Grandia, Andrew J. Taylor, Aaron D. Ames, Marco Hutter

* Submitted to IEEE Robotics and Automation Letters (RA-L) and IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Learning Quadrupedal Locomotion over Challenging Terrain


Oct 21, 2020
Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter

* Science Robotics 2020 Vol. 5, Issue 47, eabc5986 

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


Oct 13, 2020
Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Galliard, Samuel Zimmermann, Marco Hutter

* 8 pages, 6 figures, 1 table, 52 references, 9 equations 

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Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions


Jun 01, 2020
Ruben Grandia, Andrew J. Taylor, Andrew Singletary, Marco Hutter, Aaron D. Ames


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


Mar 06, 2020
Napat Karnchanachari, Miguel I. Valls, David Hoeller, Marco Hutter

* 14 pages, 6 figures, submitted to L4DC 2020 

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