Role in the NCCR Digital Fabrication

Principal Investigator, Steering Committee

Team members

• Kaixian Qu
• 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
• Dr. 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

Focus Topics

• FT3: Digital Construction Site
• Project 3B: Continuous/Monolithic Construction - Onsite Manufacturing

NCCR publications

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

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

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

  • Date: 01.12.2023
  • Authors: Edo Jelavic, Kaixian Qu, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter

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

  • Date: 01.08.2023
  • Authors: Jean-Pierre Sleiman, Dr. Farbod Farshidian, Prof. Dr. Marco Hutter

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

  • Date: 01.07.2023
  • Authors: 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)

  • Date: 01.02.2023
  • Authors: 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)

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

• Soil-Adaptive Excavation Using Reinforcement Learning (2022)

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

• 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

• 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, 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

• 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

• 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)

• 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)

• 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

• Robotic Landscapes—Designing the Unfinished (2021)

  • Date: 01.01.2021
  • Authors: Prof. Christophe Girot, Dana Cupkova, Fujan Fahmi, Mathias Bernhard, 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

• 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)

• 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

• 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, Dr. 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

• 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

• 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

• 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.

• 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)

• 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

• 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

• 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

• 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)

• 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

• 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

• 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

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

  • Date: 01.01.2018
  • Authors: Dr. Martin Wermelinger, Hironori Yoshida, Dr. Fadri Furrer, 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

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

  • Date: 01.01.2018
  • Authors: Dr. Martin Wermelinger, Hironori Yoshida, Dr. Fadri Furrer, 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

• 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

• 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)

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

  • Date: 01.01.2017
  • Authors: Dr. Fadri Furrer, Hironori Yoshida, Dr. Martin Wermelinger, 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)

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

• 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