Position im NFS Digitale Fabrikation

Principal Investigator, Steering Committee

Teammitglieder

• Kaixian Qu
• Filippo A. Spinelli
• Pascal Egli
• Benedikt Kowalewski: Robotische Konstruktion
• Marko Bjelonic
• Dr. Dominic Jud
• Dr. Martin Wermelinger: Robust Robotic Object Aggregation Through Haptics
• Simon Kerscher
• Maria Vittoria Minniti
• Dhionis Sako

Focus Topics

• Focus topic 3
• Project 3B: Continuous/Monolithic Construction - Onsite Manufacturing

NFS Publikationen

• Learning to Open and Traverse Doors with a Legged Manipulator (2025)

  • Datum: 01.01.2025
  • Autoren: Mike (Shao) Zhang, Yuntao Ma, Takahiro Miki, Prof. Dr. Marco Hutter
  • Event: 8th Conference on Robot Learning (CoRL 2024)
  • Bemerkungen: "RSL; Mobile Manipulation;Legged Manipulator;Reinforcement Learning"

• Tag Map: A Text-Based Map for Spatial Reasoning and Navigation with Large Language Models (2025)

  • Datum: 01.01.2025
  • Autoren: Mike Zhang, Kaixian Qu, Vaishakh Patil, Cesar Cadena, Prof. Dr. Marco Hutter
  • Event: 8th Conference on Robot Learning (CoRL 2024)

• Toward Autonomous Excavation Planning (2024)

  • Datum: 01.11.2024
  • Autoren: Lorenzo Terenzi, Prof. Dr. Marco Hutter

• Autonomous construction of lunar infrastructure with in-situ boulders (2024)

  • Datum: 06.06.2024
  • Autoren: Jonas Walther, Dr. Ryan Luke Johns, Hendrik Kolvenbach, Valentin Tertius Bickel, Prof. Dr. Marco Hutter

• Learning Adaptive Controller for Hydraulic Machinery Automation (2024)

  • Datum: 01.04.2024
  • Autoren: Fang Nan, Prof. Dr. Marco Hutter

• Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot (2024)

  • Datum: 01.01.2024
  • Autoren: Stefan Leuthard, Timo Eugster, Nicolas Faesch, Riccardo Feingold, Connor Flynn, Michael Fritsche, Nicolas Hürlimann, Elena Morbach, Fabian Tischhauser, Matthias Müller, Markus Montenegro, Valerio Schelbert, Jia-Ruei Chiu, Philip Arm, Prof. Dr. Marco Hutter
  • Event: 27th International Conference on Climbing and Walking Robots (CLAWAR 2024)
  • Bemerkungen: Conference lecture held on September 4, 2024.

• Dynamic Throwing with Robotic Material Handling Machines (2024)

  • Datum: 01.01.2024
  • Autoren: Lennart Werner, Fang Nan, Pol Eyschen, Filippo A. Spinelli, Hongyi Yang, Prof. Dr. Marco Hutter
  • Event: 37th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

• Reinforcement Learning Control for Autonomous Hydraulic Material Handling Machines with Underactuated Tools (2024)

  • Datum: 01.01.2024
  • Autoren: Filippo A. Spinelli, Pascal Egli, Julian Nubert, Fang Nan, Thilo Bleumer, Patrick Goegler, Stephan Brockes, Ferdinand Hofmann, Prof. Dr. Marco Hutter
  • Event: 37th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
  • Bemerkungen: Coference lecture held on October 18, 2024.

• Motion Primitives Planning For Center-Articulated Vehicles (2024)

  • Datum: 01.01.2024
  • Autoren: Jiangpeng Hu, Fan Yang, Fang Nan, Prof. Dr. Marco Hutter
  • Event: 37th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)

• Reinforcement Learning-Based Bucket Filling for Autonomous Excavation (2024)

  • Datum: 01.01.2024
  • Autoren: Pascal Egli, Lorenzo Terenzi, Prof. Dr. Marco Hutter

• Perceptive Pedipulation with Local Obstacle Avoidance (2024)

  • Datum: 01.01.2024
  • Autoren: Jonas Stolle, Philip Arm, Mayank Mittal, Prof. Dr. Marco Hutter
  • Event: 23rd IEEE-RAS International Conference on Humanoid Robots (Humanoids 2024)
  • Bemerkungen: Conference lecture on November 23, 2024.

• SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies (2024)

  • Datum: 01.01.2024
  • Autoren: Alexander Spiridonov, Fabio Buehler, Moriz Berclaz, Valerio Schelbert, Jorit Geurts, Elena Krasnova, Emma Steinke, Jonas Toma, Joschua Wuethrich, Recep Polat, Wim Zimmermann, Philip Arm, Nikita Rudin, Hendrik Kolvenbach, Prof. Dr. Marco Hutter
  • Event: 41st IEEE International Conference on Robotics and Automation (ICRA 2024)

• TULIP: Transformer for Upsampling of LiDAR Point Clouds (2024)

  • Datum: 01.01.2024
  • Autoren: Bin Yang, Patrick Pfreundschuh, Prof. Dr. Roland Siegwart, Prof. Dr. Marco Hutter, Peyman Moghadam, Vaishakh Patil
  • Event: 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR 2024)

• Pedipulate: Enabling Manipulation Skills using a Quadruped Robot’s Leg (2024)

  • Datum: 01.01.2024
  • Autoren: Philip Arm, Mayank Mittal, Hendrik Kolvenbach, Prof. Dr. Marco Hutter
  • Event: 41st IEEE International Conference on Robotics and Automation (ICRA 2024)

• LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems (2023)

  • Datum: 01.12.2023
  • Autoren: Edo Jelavic, Kaixian Qu, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter

• Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation (2023)

  • Datum: 01.08.2023
  • Autoren: Jean-Pierre Sleiman, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter

• Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots (2023)

  • Datum: 01.07.2023
  • Autoren: Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Prof. Dr. Marco Hutter

• Continuous Mobile Thin-Layer On-Site Printing (2023)

  • Datum: 01.02.2023
  • Autoren: Dr. Selen Ercan Jenny, Lukasz L. Pietrasik, Eliott Sounigo, Ping Tsai, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Ena Lloret-Fritschi, Prof. Dr. Marco Hutter

• End-Effector Pose Estimation and Control for 3D Printing with Articulated Excavators (2023)

  • Datum: 01.01.2023
  • Autoren: Grzegorz Malczyk, Prof. Dr. Marco Hutter
  • Event: 21st International Conference on Advanced Robotics (ICAR 2023)
  • Bemerkungen: The original file has been replaced with a corrected version at the author's request.

• Soil-Adaptive Excavation Using Reinforcement Learning (2022)

  • Datum: 01.10.2022
  • Autoren: Pascal Egli, Dominique Gaschen, Simon Kerscher, Dr. Dominic Jud, Prof. Dr. Marco Hutter

• Offline motion libraries and online MPC for advanced mobility skills (2022)

  • Datum: 01.08.2022
  • Autoren: Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian S. Medeiros, Vuk Pajovic, Edo Jelavic, Prof. Dr. Stelian Coros, Prof. Dr. Marco Hutter

• A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning (2022)

  • Datum: 01.04.2022
  • Autoren: Pascal Egli, Prof. Dr. Marco Hutter

• Adaptive CLF-MPC with application to quadrupedal robots (2022)

  • Datum: 01.01.2022
  • Autoren: Maria Vittoria Minniti, Ruben Grandia, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter

• HEAP – The autonomous walking excavator (2021)

  • Datum: 01.09.2021
  • Autoren: Dr. Dominic Jud, Simon Kerscher, Dr. Martin Wermelinger, Edo Jelavic, Pascal Egli, Philipp Leemann, Gabriel Hottiger, Prof. Dr. Marco Hutter

• A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation (2021)

  • Datum: 01.07.2021
  • Autoren: Jean-Pierre Sleiman, Dr. Farbod Farshidian, Maria Vittoria Minniti, Prof. Dr. Marco Hutter

• Grasping and Object Reorientation for Autonomous Construction of Stone Structures (2021)

  • Datum: 01.07.2021
  • Autoren: Dr. Martin Wermelinger, Dr. Ryan Luke Johns, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Marco Hutter

• Towards Autonomous Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester (2021)

  • Datum: 01.01.2021
  • Autoren: Edo Jelavic, Dr. Dominic Jud, Pascal Egli, Prof. Dr. Marco Hutter

• Robotic Landscapes—Designing the Unfinished (2021)

  • Datum: 01.01.2021
  • Autoren: Mathias Bernhard, Dana Cupkova, Fujan Fahmi, Prof. Christophe Girot, Prof. Fabio Gramazio, Francesca Hughes, Dr. Ilmar Hurkxkens, Prof. Dr. Marco Hutter, Dr. Dominic Jud, Prof. Matthias Kohler, Benedikt Kowalewski, Jesus Medina, Dr. Ammar Mirjan

• Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots (2021)

  • Datum: 01.01.2021
  • Autoren: Marko Bjelonic, Ruben Grandia, Oliver Harley, Cla Mattia Galliard, Samuel Zimmermann, Prof. Dr. Marco Hutter
  • Event: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

• Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks (2021)

  • Datum: 01.01.2021
  • Autoren: Maria Vittoria Minniti, Ruben Grandia, Kevin Fäh, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter
  • Event: 2021 IEEE International Conference on Robotics and Automation (ICRA 2021)

• Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots (2021)

  • Datum: 01.01.2021
  • Autoren: Edo Jelavic, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter
  • Event: 2021 IEEE International Conference on Robotics and Automation (ICRA 2021)

• Autonomous Dry Stone (2020)

  • Datum: 01.12.2020
  • Autoren: Dr. Ryan Luke Johns, Dr. Martin Wermelinger, Ruben Mascaro, Dr. Dominic Jud, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Margarita Chli, Prof. Dr. Marco Hutter

• Perceptive Model Predictive Control for Continuous Mobile Manipulation (2020)

  • Datum: 01.10.2020
  • Autoren: Johannes Pankert, Prof. Dr. Marco Hutter

• Towards Automating Construction Tasks: Large-Scale Object Mapping, Segmentation and Manipulation (2020)

  • Datum: 01.08.2020
  • Autoren: Ruben Mascaro, Dr. Martin Wermelinger, Prof. Dr. Marco Hutter, Prof. Dr. Margarita Chli

• Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain (2020)

  • Datum: 01.07.2020
  • Autoren: Vivian S. Medeiros, Edo Jelavic, Marko Bjelonic, Prof. Dr. Roland Siegwart, Marco A. Meggiolaro, Prof. Dr. Marco Hutter

• Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization (2020)

  • Datum: 01.04.2020
  • Autoren: Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Prof. Dr. Marco Hutter

• Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators (2020)

  • Datum: 01.01.2020
  • Autoren: Edo Jelavic, Yannick Berdou, Dr. Dominic Jud, Simon Kerscher, Prof. Dr. Marco Hutter
  • Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
  • Bemerkungen: Conference lecture held on October 26, 2020. Due to the Coronavirus (COVID-19) the conference was conducted virtually.

• Towards RL-Based Hydraulic Excavator Automation (2020)

  • Datum: 01.01.2020
  • Autoren: Pascal Egli, Prof. Dr. Marco Hutter
  • Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) (virtual)
  • Bemerkungen: Due to the Coronavirus (COVID-19) the conference was conducted virtually.

• Whole-Body MPC for a Dynamically Stable Mobile Manipulator (2019)

  • Datum: 01.10.2019
  • Autoren: Maria Vittoria Minniti, Dr. Farbod Farshidian, Ruben Grandia, Prof. Dr. Marco Hutter

• Autonomous Free-Form Trenching using a Walking Excavator (2019)

  • Datum: 01.10.2019
  • Autoren: Dr. Dominic Jud, Philipp Leemann, Simon Kerscher, Prof. Dr. Marco Hutter
  • Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Bemerkungen: Presented on Wednesday, 6. November 2019.

• Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm (2019)

  • Datum: 01.10.2019
  • Autoren: Dr. Andrea Carron, Elena Arcari, Dr. Martin Wermelinger, Lukas Hewing, Prof. Dr. Marco Hutter, Prof. Dr. Melanie Zeilinger

• Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain (2019)

  • Datum: 01.05.2019
  • Autoren: Vivian Medeiros S., Marko Bjelonic, Edo Jelavic, Prof. Dr. Roland Siegwart, Marco Meggiolaro A., Prof. Dr. Marco Hutter
  • Event: 9th International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019)

• Keep Rollin’ - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots (2019)

  • Datum: 01.04.2019
  • Autoren: Marko Bjelonic, Carmine Dario Bellicoso, Yvain de Viragh, Dhionis Sako, F. Dante Tresoldi, Fabian Jenelten, Prof. Dr. Marco Hutter

• Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints (2019)

  • Datum: 01.04.2019
  • Autoren: Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, Prof. Dr. Marco Hutter

• Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation (2019)

  • Datum: 01.01.2019
  • Autoren: Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, Dr. Martin Wermelinger, Prof. Dr. Marco Hutter
  • Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
  • Bemerkungen: Conference lecture held on November 7, 2019

• ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot (2019)

  • Datum: 01.01.2019
  • Autoren: C. Dario Bellicoso, Koen Krämer, Markus Stäuble, Dhionis Sako, Fabian Jenelten, Marko Bjelonic, Prof. Dr. Marco Hutter
  • Event: International Conference on Robotics and Automation (ICRA 2019)

• Whole-Body Motion Planning for Walking Excavators (2019)

  • Datum: 01.01.2019
  • Autoren: Edo Jelavic, Prof. Dr. Marco Hutter
  • Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
  • Bemerkungen: Conference lecture held on November 5, 2019

• Deployment of an autonomous mobile manipulator at MBZIRC (2018)

  • Datum: 01.12.2018
  • Autoren: Jan Carius, Dr. Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Prof. Dr. Marco Hutter

• Skating with a Force Controlled Quadrupedal Robot (2018)

  • Datum: 01.01.2018
  • Autoren: Marko Bjelonic, C. Dario Bellicoso, M. Efe Tiryaki, Prof. Dr. Marco Hutter
  • Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
  • Bemerkungen: RSL; snf; dfab

• Greedy Stone Tower Creations with a Robotic Arm (2018)

  • Datum: 01.01.2018
  • Autoren: Dr. Martin Wermelinger, Dr. Fadri Furrer, Hironori Yoshida, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Roland Siegwart, Prof. Dr. Marco Hutter
  • Event: 27th International Joint Conference on Artificial Intelligence (IJCAI 2018)
  • Bemerkungen: RSL; dfab; manipulation; construction; robotic

• Planning and Control for Autonomous Excavation (2017)

  • Datum: 01.10.2017
  • Autoren: Dr. Dominic Jud, Gabriel Hottiger, Philipp Leemann, Prof. Dr. Marco Hutter

• Force Control for Active Chassis Balancing (2017)

  • Datum: 01.04.2017
  • Autoren: Prof. Dr. Marco Hutter, Philipp Leemann, Gabriel Hottiger, Ruedi Figi, Stefan Tagmann, Gonzalo Rey, George Small

• Autonomous robotic stone stacking with online next best object target pose planning (2017)

  • Datum: 01.01.2017
  • Autoren: Dr. Fadri Furrer, Dr. Martin Wermelinger, Hironori Yoshida, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Roland Siegwart, Prof. Dr. Marco Hutter
  • Event: International Conference on Robotics and Automation (ICRA 2017)

• Robotic Landscapes. Developing Computational Design Tools towards Autonomous Terrain Modeling (2017)

  • Datum: 01.01.2017
  • Autoren: Dr. Ilmar Hurkxkens, Prof. Christophe Girot, Prof. Dr. Marco Hutter
  • Event: 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)

• Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC (2017)

  • Datum: 01.01.2017
  • Autoren: Jan Carius, Dr. Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Prof. Dr. Marco Hutter
  • Event: 11th Conference on Field and Service Robotics (FSR 2017)

• ANYpulator: Design and Control of a Safe Robotic Arm (2016)

  • Datum: 01.01.2016
  • Autoren: Karen Bodie, C. Dario Bellicoso, Prof. Dr. Marco Hutter
  • Event: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

• Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization (2016)

  • Datum: 01.01.2016
  • Autoren: C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, Péter Fankhauser, Prof. Dr. Marco Hutter
  • Event: 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)

Medienmitteilungen

• Latest ANYmal walking robot gets ready for inspection

E-Mail

UQ.JUKY@LYKKHUS4@

Externe URL(s)

• Robotic Systems Lab