Person
Marco Hutter
Related publications (40)
An Adaptive Landing Gear for Extending the Operational Range of Helicopters
Conventional skid or wheel based helicopter landing gears severely limit off-field landing possibilities, which are crucial when operating in scenarios such as mountain rescue. In this context, slopes beyond 8° and small obstacles can already pose a substa ...
IEEE2019Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots
Laura Isabel Paez Coy, Marco Hutter, Klajd Lika
Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for hig ...
2019Frequency-Aware Model Predictive Control
Marco Hutter, Farbod Farshidian
Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...
2019Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
Marco Hutter, Farbod Farshidian
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast motion planning ...
IEEE2019The current state and future outlook of rescue robotics
Dario Floreano, Auke Ijspeert, Roland Siegwart, Stefano Mintchev, Kamilo Andres Melo Becerra, Davide Scaramuzza, Tomislav Horvat, Marco Hutter
Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly rel ...
2019Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
We show dynamic locomotion strategies for wheeled quadrupedal robots that combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach r ...
2019Learning agile and dynamic motor skills for legged robots
Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires minimal craftsmanshi ...
2019Dynamic Locomotion on Slippery Ground
Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual no-slip assumption. In fact, there ...
2019Feedback MPC for Torque-Controlled Legged Robots
The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by us ...
2019Trajectory Optimization for Legged Robots With Slipping Motions
The dynamics of legged systems are characterized by under-actuation, instability, and contact state switching. We present a trajectory optimization method for generating physically consistent motions under these conditions. By integrating a custom solver f ...
2019