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subTerranean Haptic INvestiGator

Resultado final

Launch of project website, social media, and video channel

Launch of project website, social media, and video channel.

Media material for industry

Promotional media material for industry summarizing related project outputs

Media material summarizing all the events organized throughout the project

Public layperson video released summarizing events and outcomes of the project

Report on the evaluation of the first prototypes of soles

Evaluation of sole prototypes and selection of the final configuration

Technical report describing the performance of friction and vibration sensing

Technical report describing analysis of friction and vibration sensing via sole in underground mine

Report of combined mapping with Adaptive Feet and external sensing

Report describing approaches for mapping combining inputs from adaptive feet and visual sensing

First Prototypes of Passive and Active sole

First prototypes of new passive and active sole released

Passive ankle joints with rigid sole

First prototype of passive ankle joint (with rigid sole) released.

Active ankle joints

First prototypes of active ankles released

Open-source simulation package

Open source simulator released via a git-repository.

Publicaciones

Feedback MPC for Torque-Controlled Legged Robots

Autores: Ruben Grandia; Farbod Farshidian; Rene Ranftl; Marco Hutter
Publicado en: IROS, Edición 7, 2019
Editor: IEEE
DOI: 10.3929/ethz-b-000357550

A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances

Autores: Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Oguzhan Cebe; Michael Mistry
Publicado en: ICRA, Edición 29, 2018
Editor: IEEE
DOI: 10.1109/icra.2018.8461172

Online Dynamic Trajectory Optimization and Control for a Quadruped Robot

Autores: Oguzhan Cebe; Carlo Tiseo; Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Michael Mistry
Publicado en: ICRA, Edición 13, 2021
Editor: IEEE
DOI: 10.1109/icra48506.2021.9561592

Contact Surface Estimation via Haptic Perception

Autores: Hsiu-Chin Lin; Michael Mistry
Publicado en: ICRA, Edición 12, 2020
Editor: IEEE
DOI: 10.1109/icra40945.2020.9196816

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Autores: Mathieu Geisert; Tom A Yates; Asil Orgen; Pierre Fernbach; Ioannis Havoutis
Publicado en: https://hal.archives-ouvertes.fr/hal-02097212, Edición 7, 2019
Editor: Springer
DOI: 10.1007/978-3-030-23807-0_23

Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots

Autores: Guiyang Xin; Carlo Tiseo; Wouter Wolfslag; Joshua Smith; Oguzhan Cebe; Zhibin Li; Sethu Vijayakumar; Michael Mistry
Publicado en: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), Edición 17, 2020
Editor: IEEE
DOI: 10.1109/case48305.2020.9216813

Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner

Autores: Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis
Publicado en: Towards Autonomous Robotic Systems Conference, Edición 5, 2019
Editor: IEEE

Online Optimal Impedance Planning for Legged Robots

Autores: Angelini, Franco and Xin, Guiyang and Wolfslag, Wouter J. and Tiseo, Carlo and Mistry, Michael and Garabini, Manolo and Bicchi, Antonio and Vijayakumar, Sethu
Publicado en: International Conference on Intelligent Robots and Systems, 2019
Editor: IEEE

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

Autores: Bednarek, Jakub, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, and Krzysztof Walas
Publicado en: International Conference on Robotics and Automation, 2019
Editor: IEEE

Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion

Autores: Belter, Dominik, Jakub Bednarek, Hsiu-Chin Lin, Guiyang Xin, and Michael Mistry
Publicado en: International Conference on Robotics and Automation, 2019
Editor: IEEE

Multi-controller multiobjective locomotion planning for legged robots

Autores: Martim Brandao, Maurice Fallon, and Ioannis Havoutis
Publicado en: International Conference on Intelligent Robots and Systems, 2019
Editor: IEEE

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Autores: Fankhauser, Péter, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, and Marco Hutter
Publicado en: International Conference on Robotics and Automation, 2018, Página(s) 1-8, ISSN 2577-087X
Editor: IEEE

The control toolbox—An open-source C++ library for robotics, optimal and model predictive control

Autores: "Giftthaler, Markus and Neunert, Michael and St{\""a}uble, Markus and Buchli, Jonas"
Publicado en: International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2018, Página(s) 123-129
Editor: IEEE

Feedback MPC for Torque-Controlled Legged Robots

Autores: Grandia, Ruben and Farshidian, Farbod and Ranftl, Ren{\'{e}} and Hutter, Marco
Publicado en: International Conference on Intelligent Robots and Systems, 2019
Editor: IEEE

Support Surface Estimation for Legged Robots

Autores: Homberger, Timon and Wellhausen, Lorenz and Fankhauser, P{\'{e}}ter and Hutter, Marco
Publicado en: International Conference on Robotics and Automation, 2019
Editor: IEEE

Per-Contact Iteration Method for Solving Contact Dynamics

Autores: Hwangbo, Jemin and Lee, Joonho and Hutter, Marco
Publicado en: IEEE Robotics and Automation Letters, Edición 3(2), 2018, Página(s) 895-902, ISSN 2377-3766
Editor: IEEE

Dynamic Locomotion on Slippery Ground

Autores: Jenelten, Fabian and Hwangbo, Jemin and Tresoldi, Fabian and Bellicoso, C Dario and Hutter, Marco
Publicado en: International Conference on Intelligent Robots and Systems, 2019
Editor: IEEE

Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots

Autores: Kaslin, Roman and Kolvenbach, Hendrik and Paez, Laura and Lika, Klajd and Hutter, Marco
Publicado en: International Conference on Intelligent Robots and Systems, 2018, Página(s) 2707-2714
Editor: IEEE

Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots

Autores: Kolvenbach, Hendrik and Valsecchi, Giorgio and Grandia, Ruben and Ruiz, Antoni and Jenelten, Fabian and Hutter, Marco
Publicado en: Field and Service Robots, 2019
Editor: Field and Service Robots

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Autores: Seyde, Tim and Carius, Jan and Grandia, Ruben and Farshidian, Farbod and Hutter, Marco
Publicado en: International Conference on Robotics and Automation, 2019
Editor: IEEE

VILENS: A Visual Inertial Legged Navigation System based on Factor Graphs

Autores: D. Wisth, and M. Camurri and M. Fallon
Publicado en: Workshop Towards Real-World Deployment of Legged Robots, 2019
Editor: IEEE

A model-based hierarchical controller for legged systems subject to external disturbances

Autores: Xin, Guiyang and Lin, Hsiu-Chin and Smith, Joshua and Cebe, Oguzhan and Mistry, Michael
Publicado en: International Conference on Robotics and Automation, 2018, Página(s) 4375-4382
Editor: IEEE

Why Should Inspection Robots be used in Deep Underground Mines

Autores: R. Zimroz, M. Hutter, M. Mistry, P. Stefaniak, K. Walas, J. Wodecki
Publicado en: International Symposium on Mine Planning and Equipment Selection, 2018, ISBN 978-3-319-99220-4
Editor: Springer

Analytic Model for Quadruped Locomotion Task-Space Planning

Autores: Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
Publicado en: International Conference of the IEEE Engineering in Medicine and Biology Society, 2019
Editor: IEEE

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Autores: Tim Seyde; Jan Carius; Ruben Grandia; Farbod Farshidian; Marco Hutter
Publicado en: 2019 International Conference on Robotics and Automation (ICRA), Edición 14, 2019
Editor: IEEE
DOI: 10.1109/icra.2019.8794067

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks

Autores: Maria Vittoria Minniti; Ruben Grandia; Kevin Fah; Farbod Farshidian; Marco Hutter
Publicado en: ICRA, Edición 4, 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000476635

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Autores: Ruben Grandia; Andrew J. Taylor; Andrew Singletary; Marco Hutter; Aaron D. Ames
Publicado en: Robotics: Science and Systems, Edición 6, 2020
Editor: RSS
DOI: 10.15607/rss.2020.xvi.098

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

Autores: Ruben Grandia; Andrew J. Taylor; Aaron D. Ames; Marco Hutter
Publicado en: ICRA, Edición 25, 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000489842

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

Autores: Lorenz Wellhausen; Marco Hutter
Publicado en: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 20, 2021
Editor: IEEE
DOI: 10.3929/ethz-b-000507668

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Autores: Jean-Pierre Sleiman; Jan Carius; Ruben Grandia; Martin Wermelinger; Marco Hutter
Publicado en: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición 13, 2020
Editor: IEEE
DOI: 10.3929/ethz-b-000355282

Exploiting Adaptability in Soft Feet for Sensing Contact Forces

Autores: Mura, Domenico; Santina, Cosimo Della; Piazza, Cristina; Frizza, Irene; Morandi, Cecilia; Garabini, Manolo; Grioli, Giorgio; Catalano, Manuel Giuseppe
Publicado en: IEEE Robotics and Automation Letters, Edición Vol 5 Edición 2, 2020, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2019.2952292

Perceptive whole‐body planning for multilegged robots in confined spaces

Autores: Russell Buchanan; Lorenz Wellhausen; Marko Bjelonic; Tirthankar Bandyopadhyay; Navinda Kottege; Marco Hutter
Publicado en: Journal of Field Robotics, 38 (1), Edición Vol 38, Edición 1, 2020, ISSN 1556-4967
Editor: Wiley
DOI: 10.1002/rob.21974

Dynamic Locomotion on Slippery Ground

Autores: Jenelten, Fabian; Hwangbo, Jemin; Tresoldi, Fabian; Bellicoso, C. Dario; Hutter, Marco
Publicado en: IEEE Robotics and Automation Letters, Edición Volume 4, Edición 4, 2019, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000355281

MPC-Net: A First Principles Guided Policy Search

Autores: Jan Carius; Farbod Farshidian; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 5 (2), Edición 16, 2020, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2974653

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Autores: Guiyang Xin; Songyan Xin; Oguzhan Cebe; Mathew Jose Pollayil; Franco Angelini; Manolo Garabini; Sethu Vijayakumar; Michael Mistry
Publicado en: Xin , G , Xin , S , Cebe , O , Pollayil , M J , Angelini , F , Garabini , M , Vijayakumar , S & Mistry , M 2021 , ' Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion ' , IEEE Robotics and Automation Letters , vol. 6 , no. 3 , pp. 4488 - 4495 . https://doi.org/10.1109/LRA.2021.3068695, Edición 21, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3068695

Learning robust perceptive locomotion for quadrupedal robots in the wild

Autores: Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Publicado en: Science Robotics, 7 (62), Edición 20, 2022, ISSN 2470-9476
Editor: Science Robotics
DOI: 10.1126/scirobotics.abk2822

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

Autores: Vassilios Tsounis; Mitja Alge; Joonho Lee; Farbod Farshidian; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 5 (2), Edición 19, 2020, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2979660

Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

Autores: Fabian Jenelten; Takahiro Miki; Aravind E. Vijayan; Marko Bjelonic; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 2, 2020, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000425596

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

Autores: Tung Dang; Marco Tranzatto; Shehryar Khattak; Frank Mascarich; Kostas Alexis; Marco Hutter
Publicado en: Journal of Field Robotics, Edición Volume 37, Edición 8, 2020, ISSN 1556-4967
Editor: Wiley
DOI: 10.1002/rob.21993

Towards autonomous inspection of concrete deterioration in sewers with legged robots

Autores: Hendrik Kolvenbach; David Wisth; Russell Buchanan; Giorgio Valsecchi; Ruben Grandia; Maurice Fallon; Marco Hutter
Publicado en: Journal of Field Robotics, Edición Volume 37, Edición 8, 2020, ISSN 1556-4967
Editor: Wiley
DOI: 10.1002/rob.21964

Safe Robot Navigation via Multi-Modal Anomaly Detection.

Autores: Wellhausen, Lorenz; Ranftl, Rene; Hutter, Marco
Publicado en: IEEE Robotics and Automation Letters, 5 (2), Edición 19, 2020, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2967706

Adaptive CLF-MPC with application to quadrupedal robots

Autores: Maria Vittoria Minniti; Ruben Grandia; Farbod Farshidian; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición Vol 7 Edición 1, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000515076

Frequency-Aware Model Predictive Control

Autores: Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, Rene Ranftl, Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 4/2, 2019, Página(s) 1517-1524, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2019.2895882

Whole-Body MPC for a Dynamically Stable Mobile Manipulator

Autores: Minniti, Maria V.; Farshidian, Farbod; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Publicado en: IEEE Robotics and Automation Letters, Edición 4, 2019, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000353053

Haptic Inspection of Planetary Soils with Legged Robots

Autores: Kolvenbach, Hendrik; Bärtschi, Christian; Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Publicado en: IEEE Robotics and Automation Letters, Edición 4 (2), 2019, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000322720

Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-legged Walking Robots

Autores: D. Belter
Publicado en: Access, 2019, Página(s) 2169-3536, ISSN 2169-3536
Editor: Institute of Electrical and Electronics Engineers Inc.

Employing Natural Terrain Semantics in Motion Planning for a Multi-Legged Robot

Autores: Dominik Belter, Jan Wietrzykowski, and Piotr Skrzypczyński
Publicado en: Journal of Intelligent & Robotic Systems, 2019, Página(s) 723–743, ISSN 1573-0409
Editor: Springer

The Two-State Implicit Filter Recursive Estimation for Mobile Robots

Autores: Bloesch, Michael, Michael Burri, Hannes Sommer, Roland Siegwart, and Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 3 (1), 2018, Página(s) 573–580, ISSN 2377-3766
Editor: IEEE

Trajectory Optimization for Legged Robots with Slipping Motions

Autores: Jan Carius, René Ranftl, Vladlen Koltun, and Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, Edición 4 (3), 2019, Página(s) 3013 - 3020, ISSN 2377-3766
Editor: IEEE

Stiffness Bounds for Resilient and Stable Physical Interaction of Articulated Soft Robots

Autores: Mengacci, Riccardo and Angelini, Franco and Catalano, Manuel G. and Grioli,Giorgio and Bicchi, Antonio and Garabini, Manolo
Publicado en: IEEE Robotics and Automation Letters, Edición 4(4), 2019, Página(s) 4131-4138, ISSN 2377-3766
Editor: IEEE

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Autores: Sleiman, Jean-pierre and Carius, Jan and Grandia, Ruben and Wermelinger, Martin and Hutter, Marco
Publicado en: IEEE Robot and Automation Letters, 2019, ISSN 2377-3766
Editor: IEEE

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

Autores: Wellhausen, Lorenz and Dosovitskiy, Alexey and Ranftl, Rene and Walas, Krzysztof and Cadena, Cesar and Hutter, Marco
Publicado en: IEEE Robotics and Automation Letters, Edición 4(2), 2019, Página(s) 1509-1516, ISSN 2377-3766
Editor: IEEE

Robust Legged Robot State Estimation Using Factor Graph Optimization

Autores: Wisth, David, Marco Camurri, and Maurice Fallon
Publicado en: IEEE Robotics and Automation Letters, 2019, ISSN 2377-3766
Editor: IEEE

Effects of the weighting matrix on dynamic manipulability of robots

Autores: Morteza Azad, Jan Babič, Michael Mistry
Publicado en: Autonomous Robots, Edición 43 (7), 2018, Página(s) 1867-1879, ISSN 1573-7527
Editor: Springer

Object carrying of hexapod robots with integrated mechanism of leg and arm

Autores: Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry
Publicado en: Robotics and Computer-Integrated Manufacturing, Edición 54, 2018, Página(s) 145-155, ISSN 0736-5845
Editor: Pergamon Press Ltd.

Localization of LHD Machines in Underground Conditions Using IMU Sensors and DTW Algorithm

Autores: Paweł Stefaniak; Bartosz Jachnik; Wioletta Koperska; Artur Skoczylas
Publicado en: Applied Sciences, Edición 11(15), 2021, ISSN 2076-3417
Editor: MDPI
DOI: 10.3390/app11156751

Learning quadrupedal locomotion over challenging terrain

Autores: Joonho Lee; Jemin Hwangbo; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Publicado en: Science Robotics, Edición Vol 5, No 47, 2020, ISSN 2470-9476
Editor: AAAS
DOI: 10.1126/scirobotics.abc5986

Adaptive Feet for Quadrupedal Walkers

Autores: Manuel G. Catalano; Mathew Jose Pollayil; Giorgio Grioli; Giorgio Valsecchi; Hendrik Kolvenbach; Marco Hutter; Antonio Bicchi; Manolo Garabini
Publicado en: IEEE Transactions on Robotics, Edición Vol 38, Edición 1, 2022, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3088060

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet

Autores: Valsecchi, Giorgio; Grandia, Ruben; Hutter, Marco
Publicado en: IEEE Robotics and Automation Letters, 5 (2), Edición 8, 2020, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2969160

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Autores: David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter
Publicado en: IEEE Robotics and Automation Letters, 6 (3), Edición 19, 2021, ISSN 2377-3766
Editor: IEEE
DOI: 10.3929/ethz-b-000482492

Quadrupedal Robots for Planetary Exploration

Autores: Kolvenbach, Hendrik
Publicado en: Edición 6, 2021
Editor: ETH Zurich
DOI: 10.3929/ethz-b-000489008

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