Marco Hutter

IEEE Robotics Autom. Lett., 2024

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2024

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

[BibT_eX]

[DOI]

Field Robotics, 2024

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

[BibT_eX]

[DOI]

Cesar Dario Cadena Lerma

CoRR, 2024

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

[BibT_eX]

[DOI]

Mayank Mittal

Katherine J. Kuchenbecker

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

Residual Policy Learning for Perceptive Quadruped Control Using Differentiable Simulation.

[BibT_eX]

[DOI]

CoRR, 2024

Obstacle-Avoidant Leader Following with a Quadruped Robot.

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

Whole-body end-effector pose tracking.

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

RoadRunner M&M - Learning Multi-range Multi-resolution Traversability Maps for Autonomous Off-road Navigation.

[BibT_eX]

[DOI]

CoRR, 2024

Learning to Open and Traverse Doors with a Legged Manipulator.

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

IN-Sight: Interactive Navigation through Sight.

[BibT_eX]

[DOI]

CoRR, 2024

Radiance Fields for Robotic Teleoperation.

[BibT_eX]

[DOI]

Maximum Wilder-Smith

Vaishakh Patil

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

Dynamic Throwing with Robotic Material Handling Machines.

[BibT_eX]

[DOI]

CoRR, 2024

Motion Primitives Planning For Center-Articulated Vehicles.

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

Cybathlon - Legged Mobile Assistance for Quadriplegics.

[BibT_eX]

[DOI]

Carmen Scheidemann

Andrei Cramariuc

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision.

[BibT_eX]

[DOI]

CoRR, 2024

Learning Quadrupedal Locomotion via Differentiable Simulation.

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

CoRR, 2024

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

[BibT_eX]

[DOI]

Guido Caccianiga

Julian Nubert

Katherine J. Kuchenbecker

CoRR, 2024

Global Path Planning for Autonomous Vehicles in Orchards and Vineyards.

[BibT_eX]

[DOI]

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

ICGNet: A Unified Approach for Instance-Centric Grasping.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning.

[BibT_eX]

[DOI]

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

ViPlanner: Visual Semantic Imperative Learning for Local Navigation.

[BibT_eX]

[DOI]

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

Symmetry Considerations for Learning Task Symmetric Robot Policies.

[BibT_eX]

[DOI]

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

Learning to walk in confined spaces using 3D representation.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Perceptive Pedipulation with Local Obstacle Avoidance.

[BibT_eX]

[DOI]

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

Fast Perception for Human-Robot Handovers with Legged Manipulators.

[BibT_eX]

[DOI]

Andreea Tulbure

Firas Abi-Farraj

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

TULIP: Transformer for Upsampling of LiDAR Point Clouds.

[BibT_eX]

[DOI]

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

2023

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, December, 2023

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

[BibT_eX]

[DOI]

Sci. Robotics, November, 2023

Barry: A High-Payload and Agile Quadruped Robot.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., November, 2023

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., November, 2023

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., November, 2023

Perceptive Locomotion Through Nonlinear Model-Predictive Control.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, October, 2023

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., October, 2023

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

[BibT_eX]

[DOI]

Dataset, October, 2023

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, August, 2023

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

[BibT_eX]

[DOI]

ACM Trans. Graph., August, 2023

Versatile multicontact planning and control for legged loco-manipulation.

[BibT_eX]

[DOI]

Sci. Robotics, August, 2023

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

[BibT_eX]

[DOI]

Valentin Tertius Bickel

Sci. Robotics, July, 2023

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, June, 2023

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., June, 2023

Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation.

[BibT_eX]

[DOI]

Elena Arcari

IEEE Robotics Autom. Lett., June, 2023

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., March, 2023

ArtPlanner: Robust Legged Robot Navigation in the Field.

[BibT_eX]

[DOI]

Mads A. Kuhlmann-Jørgensen

Field Robotics, January, 2023

PLASTR: Planning for Autonomous Sampling-Based Trowelling.

[BibT_eX]

[DOI]

Lukasz L. Pietrasik

IEEE Robotics Autom. Lett., 2023

TULIP: Transformer for Upsampling of LiDAR Point Cloud.

[BibT_eX]

[DOI]

CoRR, 2023

Learning Agile Locomotion on Risky Terrains.

[BibT_eX]

[DOI]

CoRR, 2023

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

[BibT_eX]

[DOI]

CoRR, 2023

Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion.

[BibT_eX]

[DOI]

CoRR, 2023

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

[BibT_eX]

[DOI]

CoRR, 2023

Towards Autonomous Excavation Planning.

[BibT_eX]

[DOI]

Lorenzo Terenzi

CoRR, 2023

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

[BibT_eX]

[DOI]

CoRR, 2023

RAYEN: Imposition of Hard Convex Constraints on Neural Networks.

[BibT_eX]

[DOI]

Jesus Tordesillas

Jonathan P. How

CoRR, 2023

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

[BibT_eX]

[DOI]

Pooria Poorsarvi Tehrani

CoRR, 2023

Robotic Monitoring of Habitats: The Natural Intelligence Approach.

[BibT_eX]

[DOI]

Thrishantha Nanayakkara

Paolo Remagnino

Diego Torricelli

Manolo Garabini

IEEE Access, 2023

iPlanner: Imperative Path Planning.

[BibT_eX]

[DOI]

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

Fast Traversability Estimation for Wild Visual Navigation.

[BibT_eX]

[DOI]

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

Towards Legged Locomotion on Steep Planetary Terrain.

[BibT_eX]

[DOI]

IROS, 2023

Learning Contact-Based State Estimation for Assembly Tasks.

[BibT_eX]

[DOI]

IROS, 2023

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

[BibT_eX]

[DOI]

IROS, 2023

Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

Yuntao Ma

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

Event-based Agile Object Catching with a Quadrupedal Robot.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

Grzegorz Malczyk

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

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

[BibT_eX]

[DOI]

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

Curiosity-Driven Learning of Joint Locomotion and Manipulation Tasks.

[BibT_eX]

[DOI]

Clemens Schwarke

Victor Klemm

Matthijs van der Boon

Proceedings of the Conference on Robot Learning, 2023

Actively Variable Transmission Robotic Leg.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Field Robotics, March, 2022

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

[BibT_eX]

[DOI]

Valentin Tertius Bickel

Benjamin Sun

Christoph Meyer

Field Robotics, March, 2022

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

[BibT_eX]

[DOI]

Field Robotics, March, 2022

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems.

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2022

Adaptive Feet for Quadrupedal Walkers.

[BibT_eX]

[DOI]

Manuel Giuseppe Catalano

IEEE Trans. Robotics, 2022

CERBERUS in the DARPA Subterranean Challenge.

[BibT_eX]

[DOI]

Sci. Robotics, 2022

Learning robust perceptive locomotion for quadrupedal robots in the wild.

[BibT_eX]

[DOI]

Sci. Robotics, 2022

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Design and Motion Planning for a Reconfigurable Robotic Base.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Deep Measurement Updates for Bayes Filters.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

A Reconfigurable Leg for Walking Robots.

[BibT_eX]

[DOI]

Fang Nan

Hendrik Kolvenbach

IEEE Robotics Autom. Lett., 2022

Adaptive CLF-MPC With Application to Quadrupedal Robots.

[BibT_eX]

[DOI]

Ruben Grandia

IEEE Robotics Autom. Lett., 2022

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Neural Scene Representation for Locomotion on Structured Terrain.

[BibT_eX]

[DOI]

David Hoeller

Nikita Rudin

Christopher B. Choy

Animashree Anandkumar

IEEE Robotics Autom. Lett., 2022

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

[BibT_eX]

[DOI]

Pascal Egli

IEEE Robotics Autom. Lett., 2022

Soil-Adaptive Excavation Using Reinforcement Learning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2022

Meta Reinforcement Learning for Optimal Design of Legged Robots.

[BibT_eX]

[DOI]

Álvaro Belmonte-Baeza

Giorgio Valsecchi

IEEE Robotics Autom. Lett., 2022

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

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2022

Offline motion libraries and online MPC for advanced mobility skills.

[BibT_eX]

[DOI]

Vivian Suzano Medeiros

Int. J. Robotics Res., 2022

Unsupervised Continual Semantic Adaptation through Neural Rendering.

[BibT_eX]

[DOI]

CoRR, 2022

A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets.

[BibT_eX]

[DOI]

CoRR, 2022

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

[BibT_eX]

[DOI]

CoRR, 2022

Present and Future of SLAM in Extreme Underground Environments.

[BibT_eX]

[DOI]

CoRR, 2022

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

[BibT_eX]

[DOI]

CoRR, 2022

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

[BibT_eX]

[DOI]

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

LiDAR-guided object search and detection in Subterranean Environments.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

Seyed Abolfazl Fakoorian

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.

[BibT_eX]

[DOI]

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

Learning-based Localizability Estimation for Robust LiDAR Localization.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Elevation Mapping for Locomotion and Navigation using GPU.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Collision detection and identification for a legged manipulator.

[BibT_eX]

[DOI]

Jessie van Dam

Andreea Tulbure

Firas Abi-Farraj

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.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Julian Nubert

Shehryar Khattak

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

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

[BibT_eX]

[DOI]

Christos Papachristos

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Collaborative Robot Mapping using Spectral Graph Analysis.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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

Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning.

[BibT_eX]

[DOI]

Proceedings of the Robotics in Natural Settings, 2022

A Survey of Wheeled-Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the Robotics in Natural Settings, 2022

2021

Grasping and Object Reorientation for Autonomous Construction of Stone Structures.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2021

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

[BibT_eX]

[DOI]

J. Field Robotics, 2021

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

[BibT_eX]

[DOI]

Russell Buchanan

Tirthankar Bandyopadhyay

Navinda Kottege

J. Field Robotics, 2021

Solving Occlusion in Terrain Mapping with Neural Networks.

[BibT_eX]

[DOI]

CoRR, 2021

HEAP - The autonomous walking excavator.

[BibT_eX]

[DOI]

CoRR, 2021

Towards Autonomous Robotic Precision Harvesting.

[BibT_eX]

[DOI]

CoRR, 2021

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

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Mattia Risiglione

Burak Çizmeci

Douwe Dresscher

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.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Real-time Optimal Navigation Planning Using Learned Motion Costs.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Imitation Learning from MPC for Quadrupedal Multi-Gait Control.

[BibT_eX]

[DOI]

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

Self-supervised Learning of LiDAR Odometry for Robotic Applications.

[BibT_eX]

[DOI]

Julian Nubert

Shehryar Khattak

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

Edo Jelavic

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.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Simulation-Based Climbing Capability Analysis for Quadrupedal Robots.

[BibT_eX]

[DOI]

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

2020

Learning quadrupedal locomotion over challenging terrain.

[BibT_eX]

[DOI]

Sci. Robotics, 2020

Safe Robot Navigation Via Multi-Modal Anomaly Detection.

[BibT_eX]

[DOI]

René Ranftl

IEEE Robotics Autom. Lett., 2020

Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet.

[BibT_eX]

[DOI]

Giorgio Valsecchi

Ruben Grandia

IEEE Robotics Autom. Lett., 2020

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

Perceptive Model Predictive Control for Continuous Mobile Manipulation.

[BibT_eX]

[DOI]

Aravind Elanjimattathil Vijayan

IEEE Robotics Autom. Lett., 2020

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

[BibT_eX]

[DOI]

Vivian Suzano Medeiros

IEEE Robotics Autom. Lett., 2020

Perceptive Locomotion in Rough Terrain - Online Foothold Optimization.

[BibT_eX]

[DOI]

Fabian Jenelten

Takahiro Miki

IEEE Robotics Autom. Lett., 2020

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

MPC-Net: A First Principles Guided Policy Search.

[BibT_eX]

[DOI]

Jan Carius

Miguel de la Iglesia Valls

IEEE Robotics Autom. Lett., 2020

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2020

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

[BibT_eX]

[DOI]

J. Field Robotics, 2020

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

[BibT_eX]

[DOI]

J. Field Robotics, 2020

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

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Napat Karnchanachari

David Hoeller

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.

[BibT_eX]

[DOI]

Yves Zimmermann

Emek Baris Küçüktabak

Robert Riener

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.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Towards RL-Based Hydraulic Excavator Automation.

[BibT_eX]

[DOI]

Pascal Egli

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.

[BibT_eX]

[DOI]

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

2019

Learning agile and dynamic motor skills for legged robots.

[BibT_eX]

[DOI]

Sci. Robotics, 2019

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Whole-Body MPC for a Dynamically Stable Mobile Manipulator.

[BibT_eX]

[DOI]

Ruben Grandia

IEEE Robotics Autom. Lett., 2019

Haptic Inspection of Planetary Soils With Legged Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Autonomous Free-Form Trenching Using a Walking Excavator.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Dynamic Locomotion on Slippery Ground.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Frequency-Aware Model Predictive Control.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Trajectory Optimization for Legged Robots With Slipping Motions.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces.

[BibT_eX]

[DOI]

Russell Buchanan

Tirthankar Bandyopadhyay

IEEE Robotics Autom. Lett., 2019

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2019

The current state and future outlook of rescue robotics.

[BibT_eX]

[DOI]

Luca Maria Gambardella

Davide Scaramuzza

J. Field Robotics, 2019

Learning agile and dynamic motor skills for legged robots.

[BibT_eX]

[DOI]

CoRR, 2019

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

[BibT_eX]

[DOI]

Jemin Hwangbo

CoRR, 2019

Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation.

[BibT_eX]

[DOI]

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

Towards Jumping Locomotion for Quadruped Robots on the Moon.

[BibT_eX]

[DOI]

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

Whole-Body Motion Planning for Walking Excavators.

[BibT_eX]

[DOI]

Edo Jelavic

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

Feedback MPC for Torque-Controlled Legged Robots.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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

Locomotion Planning through a Hybrid Bayesian Trajectory Optimization.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

Support Surface Estimation for Legged Robots.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

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

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

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

[BibT_eX]

[DOI]

Proceedings of the International Conference on Robotics and Automation, 2019

SpaceBok: A Dynamic Legged Robot for Space Exploration.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Proceedings of the Field and Service Robotics, 2019

Deep Value Model Predictive Control.

[BibT_eX]

[DOI]

David Hoeller

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

2018

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

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

[BibT_eX]

[DOI]

Michael Neunert

Markus Stäuble

Markus Giftthaler

IEEE Robotics Autom. Lett., 2018

Per-Contact Iteration Method for Solving Contact Dynamics.

[BibT_eX]

[DOI]

Jemin Hwangbo

IEEE Robotics Autom. Lett., 2018

Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization.

[BibT_eX]

[DOI]

Peter Fankhauser

Michael Bloesch

IEEE Robotics Autom. Lett., 2018

Trajectory Optimization With Implicit Hard Contacts.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

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

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2018

Editorial.

[BibT_eX]

[DOI]

Balasubramanian Rajasekaran

J. Field Robotics, 2018

Deployment of an autonomous mobile manipulator at MBZIRC.

[BibT_eX]

[DOI]

Jan Carius

Martin Wermelinger

Kai Holtmann

J. Field Robotics, 2018

Advances in real-world applications for legged robots.

[BibT_eX]

[DOI]

J. Field Robotics, 2018

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

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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

Cable-Driven Actuation for Highly Dynamic Robotic Systems.

[BibT_eX]

[DOI]

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

Skating with a Force Controlled Quadrupedal Robot.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Greedy Stone Tower Creations with a Robotic Arm.

[BibT_eX]

[DOI]

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

Robust Rough-Terrain Locomotion with a Quadrupedal Robot.

[BibT_eX]

[DOI]

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

2017

Planning and Control for Autonomous Excavation.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

Control of a Quadrotor With Reinforcement Learning.

[BibT_eX]

[DOI]

IEEE Robotics Autom. Lett., 2017

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

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2017

ANYmal - toward legged robots for harsh environments.

[BibT_eX]

[DOI]

Adv. Robotics, 2017

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

[BibT_eX]

[DOI]

Alvaro Estandia

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

Dynamic locomotion and whole-body control for quadrupedal robots.

[BibT_eX]

[DOI]

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

Quadrupedal locomotion using trajectory optimization and hierarchical whole body control.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

Hendrik Kolvenbach

Balasubramanian Rajasekaran

Proceedings of the Field and Service Robotics, 2017

Towards a Generic Solution for Inspection of Industrial Sites.

[BibT_eX]

[DOI]

Proceedings of the Field and Service Robotics, 2017

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

[BibT_eX]

[DOI]

Proceedings of the Field and Service Robotics, 2017

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

[BibT_eX]

[DOI]

Jan Carius

Martin Wermelinger

Kai Holtmann

Proceedings of the Field and Service Robotics, 2017

2016

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

[BibT_eX]

[DOI]

Christian Gehring

Stelian Coros

IEEE Robotics Autom. Mag., 2016

A Primer on the Differential Calculus of 3D Orientations.

[BibT_eX]

[DOI]

CoRR, 2016

Collaborative localization of aerial and ground robots through elevation maps.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Coverage path planning for legged robots in unknown environments.

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

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

[BibT_eX]

[DOI]

Proceedings of the 2016 IEEE International Symposium on Safety, 2016

Navigation planning for legged robots in challenging terrain.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

Jemin Hwangbo

Peter Fankhauser

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

ANYmal - a highly mobile and dynamic quadrupedal robot.

[BibT_eX]

[DOI]

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

Collaborative navigation for flying and walking robots.

[BibT_eX]

[DOI]

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

ANYpulator: Design and control of a safe robotic arm.

[BibT_eX]

[DOI]

Karen Bodie

C. Dario Bellicoso

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.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Robust Visual Place Recognition with Graph Kernels.

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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

Dynamic trotting on slopes for quadrupedal robots.

[BibT_eX]

[DOI]

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

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

[BibT_eX]

[DOI]

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

Towards optimal force distribution for walking excavators.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Advanced Robotics, 2015

Kinect v2 for mobile robot navigation: Evaluation and modeling.

[BibT_eX]

[DOI]

Proceedings of the International Conference on Advanced Robotics, 2015

2014

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

[BibT_eX]

[DOI]

IEEE Trans. Robotics, 2014

Quadrupedal locomotion using hierarchical operational space control.

[BibT_eX]

[DOI]

Int. J. Robotics Res., 2014

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

[BibT_eX]

[DOI]

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.

[BibT_eX]

[DOI]

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

Towards automatic discovery of agile gaits for quadrupedal robots.

[BibT_eX]

[DOI]

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

2013

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

[BibT_eX]

[DOI]

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

Reinforcement learning of single legged locomotion.

[BibT_eX]

[DOI]

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

State estimation for legged robots on unstable and slippery terrain.

[BibT_eX]

[DOI]

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

Unsupervised identification and prediction of foothold robustness.

[BibT_eX]

[DOI]

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

Control of dynamic gaits for a quadrupedal robot.

[BibT_eX]

[DOI]

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

Kinematic batch calibration for legged robots.

[BibT_eX]

[DOI]

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

2012

Quadrupedal Robots with Stiff and Compliant Actuation.

[BibT_eX]

[DOI]

Autom., 2012

Hybrid Operational Space Control for Compliant Legged Systems.

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems VIII, 2012

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

[BibT_eX]

[DOI]

Proceedings of the Robotics: Science and Systems VIII, 2012

2011

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

[BibT_eX]

[DOI]

Ind. Robot, 2011

ScarlETH: Design and control of a planar running robot.

[BibT_eX]

[DOI]

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

2010

SLIP running with an articulated robotic leg.

[BibT_eX]

[DOI]

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

Passive dynamic walking with quadrupeds - Extensions towards 3D.

[BibT_eX]

[DOI]

C. David Remy

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

Haptic terrain classification for legged robots.

[BibT_eX]

[DOI]

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

2009

Adaptive control strategies for open-loop dynamic hopping.

[BibT_eX]

[DOI]

C. David Remy