Hutter

Prof. Dr.
Marco
Hutter

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

Principal Investigator, Steering Committee

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
Dr. 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
Maria Vittoria Minniti
Dhionis Sako: 3C.3 Arm-on-Arm

NCCR publications

Offline motion libraries and online MPC for advanced mobility skills (2022)
- Date: 07.06.2022
- Authors: Marko Bjelonic, Ruben Grandia, Moritz Geilinger, Oliver Harley, Vivian S. Medeiros, Vuk Pajovic, Edo Jelavic, Prof. Dr. Stelian Coros, Prof. Dr. Marco Hutter
A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning (2022)
- Date: 01.04.2022
- Authors: Pascal Egli, Prof. Dr. Marco Hutter
Adaptive CLF-MPC with application to quadrupedal robots (2022)
- Date: 01.01.2022
- Authors: Maria Vittoria Minniti, Ruben Grandia, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter
HEAP – The autonomous walking excavator (2021)
- Date: 01.09.2021
- Authors: Dr. Dominic Jud, Simon Kerscher, 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: Martin Wermelinger, Ryan Luke Johns, Prof. Fabio Gramazio, Prof. Matthias Kohler, Prof. Dr. Marco Hutter
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation (2021)
- Date: 01.07.2021
- Authors: Jean-Pierre Sleiman, Dr. Farbod Farshidian, Maria Vittoria Minniti, Prof. Dr. Marco Hutter
Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks (2021)
- Date: 01.01.2021
- Authors: 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)
- Date: 01.01.2021
- Authors: Edo Jelavic, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter
- Event: 2021 IEEE International Conference on Robotics and Automation (ICRA 2021)
Robotic Landscapes—Designing the Unfinished (2021)
- Date: 01.01.2021
- Authors: Mathias Bernhard, Dana Cupkova, Fujan Fahmi, Prof. Christophe Girot, Prof. Fabio Gramazio, Francesca Hughes, Ilmar Hurkxkens, Prof. Dr. Marco Hutter, Dr. Dominic Jud, Prof. Matthias Kohler, Benedikt Kowalewski, Jesus Medina, Ammar Mirjan
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)
Towards Autonomous Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester (2021)
- Date: 01.01.2021
- Authors: Edo Jelavic, Dr. Dominic Jud, Pascal Egli, Prof. Dr. Marco Hutter
- Notes: RSL. Note: journal still not issued
Autonomous Dry Stone (2020)
- Date: 01.12.2020
- Authors: Ryan Luke Johns, 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)
- Date: 01.10.2020
- Authors: Johannes Pankert, Prof. Dr. Marco Hutter
Towards Automating Construction Tasks: Large-Scale Object Mapping, Segmentation and Manipulation (2020)
- Date: 01.08.2020
- Authors: Ruben Mascaro, Martin Wermelinger, Prof. Dr. Marco Hutter, Prof. Dr. Margarita Chli
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
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
Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization (2020)
- Date: 01.04.2020
- Authors: Marko Bjelonic, Prajish K. Sankar, C. Dario Bellicoso, Heike Vallery, Prof. Dr. Marco Hutter
Towards RL-Based Hydraulic Excavator Automation (2020)
- Date: 01.01.2020
- Authors: Pascal Egli, 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.
Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators (2020)
- Date: 01.01.2020
- Authors: 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)
- Notes: Conference lecture held on October 26, 2020. Due to the Coronavirus (COVID-19) the conference was conducted virtually.
Whole-Body MPC for a Dynamically Stable Mobile Manipulator (2019)
- Date: 01.10.2019
- Authors: Maria Vittoria Minniti, Dr. Farbod Farshidian, Ruben Grandia, Prof. Dr. Marco Hutter
Autonomous Free-Form Trenching using a Walking Excavator (2019)
- Date: 01.10.2019
- Authors: Dr. 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.
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
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)
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
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints (2019)
- Date: 01.04.2019
- Authors: Yvain de Viragh, Marko Bjelonic, C. Dario Bellicoso, Fabian Jenelten, Prof. Dr. Marco Hutter
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
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
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)
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
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
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
Planning and Control for Autonomous Excavation (2017)
- Date: 01.10.2017
- Authors: Dr. Dominic Jud, Gabriel Hottiger, Philipp Leemann, Prof. Dr. Marco Hutter
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
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)
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)
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)
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)
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)

Media impressions

Latest ANYmal walking robot gets ready for inspection

Email

UQ.JUKY@LYKKHUS4@

External URL(s)

Robotic Systems Lab