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


Sep 26, 2022
Nikita Rudin, David Hoeller, Marko Bjelonic, Marco Hutter

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* IROS 2022, Project website: https://sites.google.com/ leggedrobotics.com/end-to-end-loco-navigation 

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Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain


Aug 02, 2022
Robin Schmid, Deegan Atha, Frederik Schöller, Sharmita Dey, Seyed Fakoorian, Kyohei Otsu, Barry Ridge, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Ali-akbar Agha-mohammadi

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Design and Motion Planning for a Reconfigurable Robotic Base


Jul 04, 2022
Johannes Pankert, Giorgio Valsecchi, Davide Baret, Jon Zehnder, Lukasz L. Pietrasik, Marko Bjelonic, Marco Hutter

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* 8 pages, accepted for RA-L and IROS 2022 

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Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning


Mar 23, 2022
Eric Vollenweider, Marko Bjelonic, Victor Klemm, Nikita Rudin, Joonho Lee, Marco Hutter

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


Jan 18, 2022
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 Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis

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* 50 pages, 25 figures. Accepted at Field Robotics, 2021 

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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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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

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

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


Sep 16, 2019
Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Marco Hutter

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


Feb 07, 2019
Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh, Dhionis Sako, F. Dante Tresoldi, Fabian Jenelten, Marco Hutter

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* IEEE Robotics and Automation Letters 2019 
* IEEE Robotics and Automation Letters 

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