Work Topic

Martin Wermelinger is focusing on manipula­tion and autonomous assembly of irregular objects with uncertainty in pose and shape. He develops novel methods to detect, limit and control the contact forces of objects and to shape the interaction dynamics, by exploiting sensitive and compliant robotic systems.

Role in the NCCR Digital Fabrication

Alumni: PhD Researcher

Current position

NCCR publications

• HEAP – The autonomous walking excavator (2021)

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

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

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

• Robust Robotic Aggregation of Irregularly Shaped Objects (2021)

  • Date: 01.01.2021
  • Authors: Dr. Martin Wermelinger

• Autonomous Dry Stone (2020)

  • Date: 01.12.2020
  • Authors: 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

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

  • Date: 01.08.2020
  • Authors: Ruben Mascaro, Dr. Martin Wermelinger, Prof. Dr. Marco Hutter, Prof. Dr. Margarita Chli

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

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

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

  • Date: 01.01.2019
  • Authors: 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)
  • Notes: Conference lecture held on November 7, 2019

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

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

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

  • Date: 01.01.2018
  • Authors: 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)
  • Notes: RSL; dfab; manipulation; construction; robotic

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

  • Date: 01.01.2018
  • Authors: 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)
  • Notes: RSL; dfab; manipulation; construction; robotic

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

  • Date: 01.01.2017
  • Authors: 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)

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

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

External URL(s)

• Bota Systems AG
• LinkedIn
• Robotic Systems Lab