Marko
Bjelonic
Alumni
Marko Bjelonic was born in Banja Luka, Yugoslavia. He received the B.S. and M.S. degrees in mechanical engineering from Technische Universität Darmstadt, Germany, in 2013 and 2016, respectively. He was with the Robotics and Autonomous Systems Group of CSIRO, Australia, in 2015/16. He is currently working toward a Ph.D. degree with the Robotic Systems Lab of ETH Zürich, Switzerland. His research interest includes whole-body motion control and planning for wheeled-legged robots in challenging environments, and the transfer of this technology to robotic and non-robotic applications. The supervisors of his Ph.D. are Marco Hutter from ETH Zurich and Sangbae Kim from Massachusetts Institute of Technology (MIT).
Work Topic
Legged robots are capable of traversing challenging terrain, but lack of energy efficiency when compared to wheeled systems operating on flat environments. The combination of both domains overcomes the trade-off. We present a motion planner and controller which together enable a legged robot equipped with wheels to perform hybrid locomotion.
Role in the NCCR Digital Fabrication
Alumni: PhD Researcher
NCCR publications
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Offline motion libraries and online MPC for advanced mobility skills (2022)
- Date: 01.08.2022
- Authors: Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian S. Medeiros, Vuk Pajovic, Edo Jelavic, Prof. Dr. Stelian Coros, Prof. Dr. Marco Hutter
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Planning and Control for Hybrid Locomotion of Wheeled-Legged Robots (2021)
- Date: 01.01.2021
- Authors: Marko Bjelonic
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Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots (2021)
- Date: 01.01.2021
- Authors: 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)
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Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain (2020)
- Date: 01.07.2020
- Authors: Vivian S. Medeiros, Edo Jelavic, Marko Bjelonic, Prof. Dr. Roland Siegwart, Marco A. Meggiolaro, Prof. Dr. Marco Hutter
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- Date: 01.04.2020
- Authors: Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Prof. Dr. Marco Hutter
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Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain (2019)
- Date: 01.05.2019
- Authors: 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)
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- Date: 01.04.2019
- Authors: Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, Prof. Dr. Marco Hutter
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Keep Rollin’ - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots (2019)
- Date: 01.04.2019
- Authors: Marko Bjelonic, Carmine Dario Bellicoso, Yvain de Viragh, Dhionis Sako, F. Dante Tresoldi, Fabian Jenelten, Prof. Dr. Marco Hutter
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ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot (2019)
- Date: 01.01.2019
- Authors: 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)
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Skating with a Force Controlled Quadrupedal Robot (2018)
- Date: 01.01.2018
- Authors: Marko Bjelonic, C. Dario Bellicoso, M. Efe Tiryaki, Prof. Dr. Marco Hutter
- Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
- Notes: RSL; snf; dfab
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Skating with a Force Controlled Quadrupedal Robot (2018)
- Date: 01.01.2018
- Authors: Marko Bjelonic, C. Dario Bellicoso, M. Efe Tiryaki, Prof. Dr. Marco Hutter
- Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
- Notes: RSL; snf; dfab
Phone
+41 44 632 21 45