subTerranean Haptic INvestiGator

CORDIS fornisce collegamenti ai risultati finali pubblici e alle pubblicazioni dei progetti ORIZZONTE.

I link ai risultati e alle pubblicazioni dei progetti del 7° PQ, così come i link ad alcuni tipi di risultati specifici come dataset e software, sono recuperati dinamicamente da .OpenAIRE .

Risultati finali

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.

Pubblicazioni

Feedback MPC for Torque-Controlled Legged Robots

Autori: Ruben Grandia; Farbod Farshidian; Rene Ranftl; Marco Hutter
Pubblicato in: IROS, Numero 7, 2019
Editore: IEEE
DOI: 10.3929/ethz-b-000357550

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

Autori: Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Oguzhan Cebe; Michael Mistry
Pubblicato in: ICRA, Numero 29, 2018
Editore: IEEE
DOI: 10.1109/icra.2018.8461172

Online Dynamic Trajectory Optimization and Control for a Quadruped Robot

Autori: Oguzhan Cebe; Carlo Tiseo; Guiyang Xin; Hsiu-Chin Lin; Joshua Smith; Michael Mistry
Pubblicato in: ICRA, Numero 13, 2021
Editore: IEEE
DOI: 10.1109/icra48506.2021.9561592

Contact Surface Estimation via Haptic Perception

Autori: Hsiu-Chin Lin; Michael Mistry
Pubblicato in: ICRA, Numero 12, 2020
Editore: IEEE
DOI: 10.1109/icra40945.2020.9196816

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

Autori: Mathieu Geisert; Tom A Yates; Asil Orgen; Pierre Fernbach; Ioannis Havoutis
Pubblicato in: https://hal.archives-ouvertes.fr/hal-02097212, Numero 7, 2019
Editore: 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

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

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

Autori: Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis
Pubblicato in: Towards Autonomous Robotic Systems Conference, Numero 5, 2019
Editore: IEEE

Online Optimal Impedance Planning for Legged Robots

Autori: Angelini, Franco and Xin, Guiyang and Wolfslag, Wouter J. and Tiseo, Carlo and Mistry, Michael and Garabini, Manolo and Bicchi, Antonio and Vijayakumar, Sethu
Pubblicato in: International Conference on Intelligent Robots and Systems, 2019
Editore: IEEE

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

Autori: Bednarek, Jakub, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, and Krzysztof Walas
Pubblicato in: International Conference on Robotics and Automation, 2019
Editore: IEEE

Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion

Autori: Belter, Dominik, Jakub Bednarek, Hsiu-Chin Lin, Guiyang Xin, and Michael Mistry
Pubblicato in: International Conference on Robotics and Automation, 2019
Editore: IEEE

Multi-controller multiobjective locomotion planning for legged robots

Autori: Martim Brandao, Maurice Fallon, and Ioannis Havoutis
Pubblicato in: International Conference on Intelligent Robots and Systems, 2019
Editore: IEEE

Robust Rough-Terrain Locomotion with a Quadrupedal Robot

Autori: Fankhauser, Péter, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, and Marco Hutter
Pubblicato in: International Conference on Robotics and Automation, 2018, Pagina/e 1-8, ISSN 2577-087X
Editore: IEEE

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

Autori: "Giftthaler, Markus and Neunert, Michael and St{\""a}uble, Markus and Buchli, Jonas"
Pubblicato in: International Conference on Simulation, Modeling, and Programming for Autonomous Robots, 2018, Pagina/e 123-129
Editore: IEEE

Feedback MPC for Torque-Controlled Legged Robots

Autori: Grandia, Ruben and Farshidian, Farbod and Ranftl, Ren{\'{e}} and Hutter, Marco
Pubblicato in: International Conference on Intelligent Robots and Systems, 2019
Editore: IEEE

Support Surface Estimation for Legged Robots

Autori: Homberger, Timon and Wellhausen, Lorenz and Fankhauser, P{\'{e}}ter and Hutter, Marco
Pubblicato in: International Conference on Robotics and Automation, 2019
Editore: IEEE

Per-Contact Iteration Method for Solving Contact Dynamics

Autori: Hwangbo, Jemin and Lee, Joonho and Hutter, Marco
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3(2), 2018, Pagina/e 895-902, ISSN 2377-3766
Editore: IEEE

Dynamic Locomotion on Slippery Ground

Autori: Jenelten, Fabian and Hwangbo, Jemin and Tresoldi, Fabian and Bellicoso, C Dario and Hutter, Marco
Pubblicato in: International Conference on Intelligent Robots and Systems, 2019
Editore: IEEE

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

Autori: Kaslin, Roman and Kolvenbach, Hendrik and Paez, Laura and Lika, Klajd and Hutter, Marco
Pubblicato in: International Conference on Intelligent Robots and Systems, 2018, Pagina/e 2707-2714
Editore: IEEE

Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots

Autori: Kolvenbach, Hendrik and Valsecchi, Giorgio and Grandia, Ruben and Ruiz, Antoni and Jenelten, Fabian and Hutter, Marco
Pubblicato in: Field and Service Robots, 2019
Editore: Field and Service Robots

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Autori: Seyde, Tim and Carius, Jan and Grandia, Ruben and Farshidian, Farbod and Hutter, Marco
Pubblicato in: International Conference on Robotics and Automation, 2019
Editore: IEEE

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

Autori: D. Wisth, and M. Camurri and M. Fallon
Pubblicato in: Workshop Towards Real-World Deployment of Legged Robots, 2019
Editore: IEEE

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

Autori: Xin, Guiyang and Lin, Hsiu-Chin and Smith, Joshua and Cebe, Oguzhan and Mistry, Michael
Pubblicato in: International Conference on Robotics and Automation, 2018, Pagina/e 4375-4382
Editore: IEEE

Why Should Inspection Robots be used in Deep Underground Mines

Autori: R. Zimroz, M. Hutter, M. Mistry, P. Stefaniak, K. Walas, J. Wodecki
Pubblicato in: International Symposium on Mine Planning and Equipment Selection, 2018, ISBN 978-3-319-99220-4
Editore: Springer

Analytic Model for Quadruped Locomotion Task-Space Planning

Autori: Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
Pubblicato in: International Conference of the IEEE Engineering in Medicine and Biology Society, 2019
Editore: IEEE

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization

Autori: Tim Seyde; Jan Carius; Ruben Grandia; Farbod Farshidian; Marco Hutter
Pubblicato in: 2019 International Conference on Robotics and Automation (ICRA), Numero 14, 2019
Editore: IEEE
DOI: 10.1109/icra.2019.8794067

Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks

Autori: Maria Vittoria Minniti; Ruben Grandia; Kevin Fah; Farbod Farshidian; Marco Hutter
Pubblicato in: ICRA, Numero 4, 2021
Editore: IEEE
DOI: 10.3929/ethz-b-000476635

Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions

Autori: Ruben Grandia; Andrew J. Taylor; Andrew Singletary; Marco Hutter; Aaron D. Ames
Pubblicato in: Robotics: Science and Systems, Numero 6, 2020
Editore: RSS
DOI: 10.15607/rss.2020.xvi.098

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

Autori: Ruben Grandia; Andrew J. Taylor; Aaron D. Ames; Marco Hutter
Pubblicato in: ICRA, Numero 25, 2021
Editore: IEEE
DOI: 10.3929/ethz-b-000489842

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

Autori: Lorenz Wellhausen; Marco Hutter
Pubblicato in: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 20, 2021
Editore: IEEE
DOI: 10.3929/ethz-b-000507668

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Autori: Jean-Pierre Sleiman; Jan Carius; Ruben Grandia; Martin Wermelinger; Marco Hutter
Pubblicato in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Numero 13, 2020
Editore: IEEE
DOI: 10.3929/ethz-b-000355282

Exploiting Adaptability in Soft Feet for Sensing Contact Forces

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

Perceptive whole‐body planning for multilegged robots in confined spaces

Autori: Russell Buchanan; Lorenz Wellhausen; Marko Bjelonic; Tirthankar Bandyopadhyay; Navinda Kottege; Marco Hutter
Pubblicato in: Journal of Field Robotics, 38 (1), Numero Vol 38, Numero 1, 2020, ISSN 1556-4967
Editore: Wiley
DOI: 10.1002/rob.21974

Dynamic Locomotion on Slippery Ground

Autori: Jenelten, Fabian; Hwangbo, Jemin; Tresoldi, Fabian; Bellicoso, C. Dario; Hutter, Marco
Pubblicato in: IEEE Robotics and Automation Letters, Numero Volume 4, Numero 4, 2019, ISSN 2377-3766
Editore: IEEE
DOI: 10.3929/ethz-b-000355281

MPC-Net: A First Principles Guided Policy Search

Autori: Jan Carius; Farbod Farshidian; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 5 (2), Numero 16, 2020, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2974653

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

Autori: Guiyang Xin; Songyan Xin; Oguzhan Cebe; Mathew Jose Pollayil; Franco Angelini; Manolo Garabini; Sethu Vijayakumar; Michael Mistry
Pubblicato in: 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, Numero 21, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2021.3068695

Learning robust perceptive locomotion for quadrupedal robots in the wild

Autori: Takahiro Miki; Joonho Lee; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Pubblicato in: Science Robotics, 7 (62), Numero 20, 2022, ISSN 2470-9476
Editore: Science Robotics
DOI: 10.1126/scirobotics.abk2822

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

Autori: Vassilios Tsounis; Mitja Alge; Joonho Lee; Farbod Farshidian; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 5 (2), Numero 19, 2020, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2979660

Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

Autori: Fabian Jenelten; Takahiro Miki; Aravind E. Vijayan; Marko Bjelonic; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 2, 2020, ISSN 2377-3766
Editore: IEEE
DOI: 10.3929/ethz-b-000425596

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

Autori: Tung Dang; Marco Tranzatto; Shehryar Khattak; Frank Mascarich; Kostas Alexis; Marco Hutter
Pubblicato in: Journal of Field Robotics, Numero Volume 37, Numero 8, 2020, ISSN 1556-4967
Editore: Wiley
DOI: 10.1002/rob.21993

Towards autonomous inspection of concrete deterioration in sewers with legged robots

Autori: Hendrik Kolvenbach; David Wisth; Russell Buchanan; Giorgio Valsecchi; Ruben Grandia; Maurice Fallon; Marco Hutter
Pubblicato in: Journal of Field Robotics, Numero Volume 37, Numero 8, 2020, ISSN 1556-4967
Editore: Wiley
DOI: 10.1002/rob.21964

Safe Robot Navigation via Multi-Modal Anomaly Detection.

Autori: Wellhausen, Lorenz; Ranftl, Rene; Hutter, Marco
Pubblicato in: IEEE Robotics and Automation Letters, 5 (2), Numero 19, 2020, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2967706

Adaptive CLF-MPC with application to quadrupedal robots

Autori: Maria Vittoria Minniti; Ruben Grandia; Farbod Farshidian; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero Vol 7 Numero 1, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.3929/ethz-b-000515076

Frequency-Aware Model Predictive Control

Autori: Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, Rene Ranftl, Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4/2, 2019, Pagina/e 1517-1524, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/LRA.2019.2895882

Whole-Body MPC for a Dynamically Stable Mobile Manipulator

Autori: Minniti, Maria V.; Farshidian, Farbod; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4, 2019, ISSN 2377-3766
Editore: IEEE
DOI: 10.3929/ethz-b-000353053

Haptic Inspection of Planetary Soils with Legged Robots

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

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

Autori: D. Belter
Pubblicato in: Access, 2019, Pagina/e 2169-3536, ISSN 2169-3536
Editore: Institute of Electrical and Electronics Engineers Inc.

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

Autori: Dominik Belter, Jan Wietrzykowski, and Piotr Skrzypczyński
Pubblicato in: Journal of Intelligent & Robotic Systems, 2019, Pagina/e 723–743, ISSN 1573-0409
Editore: Springer

The Two-State Implicit Filter Recursive Estimation for Mobile Robots

Autori: Bloesch, Michael, Michael Burri, Hannes Sommer, Roland Siegwart, and Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 3 (1), 2018, Pagina/e 573–580, ISSN 2377-3766
Editore: IEEE

Trajectory Optimization for Legged Robots with Slipping Motions

Autori: Jan Carius, René Ranftl, Vladlen Koltun, and Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4 (3), 2019, Pagina/e 3013 - 3020, ISSN 2377-3766
Editore: IEEE

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

Autori: Mengacci, Riccardo and Angelini, Franco and Catalano, Manuel G. and Grioli,Giorgio and Bicchi, Antonio and Garabini, Manolo
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4(4), 2019, Pagina/e 4131-4138, ISSN 2377-3766
Editore: IEEE

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation

Autori: Sleiman, Jean-pierre and Carius, Jan and Grandia, Ruben and Wermelinger, Martin and Hutter, Marco
Pubblicato in: IEEE Robot and Automation Letters, 2019, ISSN 2377-3766
Editore: IEEE

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

Autori: Wellhausen, Lorenz and Dosovitskiy, Alexey and Ranftl, Rene and Walas, Krzysztof and Cadena, Cesar and Hutter, Marco
Pubblicato in: IEEE Robotics and Automation Letters, Numero 4(2), 2019, Pagina/e 1509-1516, ISSN 2377-3766
Editore: IEEE

Robust Legged Robot State Estimation Using Factor Graph Optimization

Autori: Wisth, David, Marco Camurri, and Maurice Fallon
Pubblicato in: IEEE Robotics and Automation Letters, 2019, ISSN 2377-3766
Editore: IEEE

Effects of the weighting matrix on dynamic manipulability of robots

Autori: Morteza Azad, Jan Babič, Michael Mistry
Pubblicato in: Autonomous Robots, Numero 43 (7), 2018, Pagina/e 1867-1879, ISSN 1573-7527
Editore: Springer

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

Autori: Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry
Pubblicato in: Robotics and Computer-Integrated Manufacturing, Numero 54, 2018, Pagina/e 145-155, ISSN 0736-5845
Editore: Pergamon Press Ltd.

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

Autori: Paweł Stefaniak; Bartosz Jachnik; Wioletta Koperska; Artur Skoczylas
Pubblicato in: Applied Sciences, Numero 11(15), 2021, ISSN 2076-3417
Editore: MDPI
DOI: 10.3390/app11156751

Learning quadrupedal locomotion over challenging terrain

Autori: Joonho Lee; Jemin Hwangbo; Jemin Hwangbo; Lorenz Wellhausen; Vladlen Koltun; Marco Hutter
Pubblicato in: Science Robotics, Numero Vol 5, No 47, 2020, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.abc5986

Adaptive Feet for Quadrupedal Walkers

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

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet

Autori: Valsecchi, Giorgio; Grandia, Ruben; Hutter, Marco
Pubblicato in: IEEE Robotics and Automation Letters, 5 (2), Numero 8, 2020, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2020.2969160

Learning a State Representation and Navigation in Cluttered and Dynamic Environments

Autori: David Hoeller; Lorenz Wellhausen; Farbod Farshidian; Marco Hutter
Pubblicato in: IEEE Robotics and Automation Letters, 6 (3), Numero 19, 2021, ISSN 2377-3766
Editore: IEEE
DOI: 10.3929/ethz-b-000482492

Quadrupedal Robots for Planetary Exploration

Autori: Kolvenbach, Hendrik
Pubblicato in: Numero 6, 2021
Editore: ETH Zurich
DOI: 10.3929/ethz-b-000489008

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