Prof. Dr.
Marco
Hutter
Marco Hutter is Assistant Professor for Robotic Systems at ETH Zurich, Switzerland, since 2015 and a Branco Weiss fellow since 2014. Before this, he was the Deputy Director and Group Leader in the field of legged robotics at the Autonomous Systems Lab at ETH Zurich. After studying mechanical engineering, he completed a doctoral degree in robotics at ETH Zurich with a focus on the design, actuation, and control of dynamic legged robotic systems. Beside his commitment within the NCCR Digital Fabrication since October 2015, Marco Hutter is part of the NCCR Robotics and coordinator of several research projects, industrial collaborations, and international competitions that target the application of high-mobile autonomous vehicles in challenging environments such as for search and rescue, industrial inspection, or construction operation. His research interests lie in the development of novel machines and actuation concepts together with the underlying control, planning, and optimisation algorithms for locomotion and manipulation.
Role in the NCCR Digital Fabrication
Team members
- Pascal Egli: Robotic Construction with Found Materials
- Benedikt Kowalewski: Construction Robotics
- Marko Bjelonic: Hybrid Locomotion: Exploiting the Advantages of Wheeled-Legged Robots on Varying Terrain
- Dominic Jud: Autonomous excavation with a walking excavator
- Martin Wermelinger: Robust Robotic Object Aggregation Through Haptics
- Simon Kerscher: Automation and teleoperation of a walking excavator
- Dr. Maria Vittoria Minniti
- Dhionis Sako: 3C.3 Arm-on-Arm
NCCR publications
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Towards RL-Based Hydraulic Excavator Automation (2020)
- Date: 06.07.2020
- Authors: Pascal Egli, Prof. Dr. Marco Hutter
- Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
- Notes: "RSL; dfab"
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Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators (2020)
- Date: 01.07.2020
- Authors: Edo Jelavic, Yannick Berdou, Dominic Jud, Simon Kerscher, Prof. Dr. Marco Hutter
- Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020) (virtual)
- Notes: Due to the Coronavirus (COVID-19) the conference was conducted virtually.
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Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain (2020)
- Date: 01.07.2020
- Authors: Vivian Medeiros S., Edo Jelavic, Marko Bjelonic, Prof. Dr. Roland Siegwart, Marco Meggiolaro A., 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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- Date: 01.01.2020
- Authors: Ryan Luke Johns, Martin Wermelinger, Ruben Mascaro, Dominic Jud, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Margarita Chli, Prof. Dr. Marco Hutter
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Whole-Body MPC for a Dynamically Stable Mobile Manipulator (2019)
- Date: 01.10.2019
- Authors: Dr. Maria Vittoria Minniti, Dr. Farbod Farshidian, Ruben Grandia, Prof. Dr. Marco Hutter
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Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm (2019)
- Date: 01.10.2019
- Authors: Dr. Andrea Carron, Elena Arcari, Martin Wermelinger, Lukas Hewing, Prof. Dr. Marco Hutter, Prof. Dr. Melanie Zeilinger
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Autonomous Free-Form Trenching using a Walking Excavator (2019)
- Date: 01.10.2019
- Authors: Dominic Jud, Philipp Leemann, Simon Kerscher, Prof. Dr. Marco Hutter
- Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Notes: Presented on Wednesday, 6. November 2019.
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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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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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- Date: 01.04.2019
- Authors: Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, Prof. Dr. Marco Hutter
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Whole-Body Motion Planning for Walking Excavators (2019)
- Date: 01.01.2019
- Authors: Edo Jelavic, Prof. Dr. Marco Hutter
- Event: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
- Notes: Conference lecture held on November 5, 2019
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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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Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation (2019)
- Date: 01.01.2019
- Authors: Jean-Pierre Sleiman, Jan Carius, Ruben Grandia, 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
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Deployment of an autonomous mobile manipulator at MBZIRC (2018)
- Date: 01.12.2018
- Authors: Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Prof. Dr. Marco Hutter
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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
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Greedy Stone Tower Creations with a Robotic Arm (2018)
- Date: 01.01.2018
- Authors: 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
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Planning and Control for Autonomous Excavation (2017)
- Date: 01.10.2017
- Authors: Dominic Jud, Gabriel Hottiger, Philipp Leemann, Prof. Dr. Marco Hutter
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Force Control for Active Chassis Balancing (2017)
- Date: 01.04.2017
- Authors: Prof. Dr. Marco Hutter, Philipp Leemann, Gabriel Hottiger, Ruedi Figi, Stefan Tagmann, Gonzalo Rey, George Small
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Robotic Landscapes. Developing Computational Design Tools towards Autonomous Terrain Modeling (2017)
- Date: 01.01.2017
- Authors: Ilmar Hurkxkens, Prof. Christophe Girot, Prof. Dr. Marco Hutter
- Event: 37th Annual Conference of the Association for Computer Aided Design in Architecture (ACADIA)
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Autonomous robotic stone stacking with online next best object target pose planning (2017)
- Date: 01.01.2017
- Authors: Dr. Fadri Furrer, 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)
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Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC (2017)
- Date: 01.01.2017
- Authors: Jan Carius, Martin Wermelinger, Balasubramanian Rajasekaran, Kai Holtmann, Prof. Dr. Marco Hutter
- Event: 11th Conference on Field and Service Robotics (FSR 2017)
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Perception-less Terrain Adaptation through Whole Body Control and Hierarchical Optimization (2016)
- Date: 01.01.2016
- Authors: C. Dario Bellicoso, Christian Gehring, Jemin Hwangbo, Péter Fankhauser, Prof. Dr. Marco Hutter
- Event: 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016)
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ANYpulator: Design and Control of a Safe Robotic Arm (2016)
- Date: 01.01.2016
- Authors: Karen Bodie, C. Dario Bellicoso, Prof. Dr. Marco Hutter
- Event: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)