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\n \n 2020\n \n \n (1)\n \n \n

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\n \n\n \n \n \n \n \n \n Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization.\n \n \n \n \n\n\n \n Bjelonic, M.; Sankar, P. K.; Bellicoso, C. D.; Vallery, H.; and Hutter, M.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 5(2): 3626-3633. 2020.\n \n\n\n\n
\n\n\n\n \n \n $\"Rolling$ link\n \n \n \n $\"Rolling$ video\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n \n \n 28 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{bjelonic2020rollingdeep,\n  author={Bjelonic, Marko and Sankar, Prajish K. and Bellicoso, C. Dario and Vallery, Heike and Hutter, Marco},\n  journal={IEEE Robotics and Automation Letters}, \n  title={Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization}, \n  year={2020},\n  volume={5},\n  number={2},\n  pages={3626-3633},\n  doi={10.1109/LRA.2020.2979661},\n  url_link  = {https://arxiv.org/pdf/1909.07193.pdf},\n  url_video = {https://youtu.be/ukY0vyM-yfY},\n}\n\n

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\n \n 2019\n \n \n (6)\n \n \n

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\n \n\n \n \n \n \n \n \n Dynamic Locomotion on Slippery Ground.\n \n \n \n \n\n\n \n Jenelten, F.; Hwangbo, J.; Tresoldi, F.; Bellicoso, C. D.; and Hutter, M.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 4(4): 4170-4176. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ video\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{jenelten2019slippery,\n  author={Jenelten, Fabian and Hwangbo, Jemin and Tresoldi, Fabian and Bellicoso, C. Dario and Hutter, Marco},\n  journal={IEEE Robotics and Automation Letters}, \n  title={Dynamic Locomotion on Slippery Ground}, \n  year={2019},\n  volume={4},\n  number={4},\n  pages={4170-4176},\n  doi={10.1109/LRA.2019.2931284},\n  url_video = {https://youtu.be/GAZecgBxIxQ},\n}\n\n

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\n \n\n \n \n \n \n \n \n ALMA-Articulated Locomotion and Manipulation for a Torque-Controllable Robot.\n \n \n \n \n\n\n \n Bellicoso, C. D.; Krämer, K.; Stäuble, M.; Sako, D.; Jenelten, F.; Bjelonic, M.; and Hutter, M.\n\n\n \n\n\n\n In IEEE International Conference on Robotics and Automation (ICRA), 2019. \n \n\n\n\n
\n\n\n\n \n \n $\"ALMA-Articulated$ pdf\n \n \n \n $\"ALMA-Articulated$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 12 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{bellicoso2019alma,\n  author    = {Bellicoso, C. Dario and\n               Kr{\\"a}mer, Koen and\n               St{\\"a}uble, Markus and\n               Sako, Dhionis and\n               Jenelten, Fabian and\n               Bjelonic, Marko and\n               Hutter, Marco},\n  title     = {ALMA-Articulated Locomotion and Manipulation for a\n               Torque-Controllable Robot},\n  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},\n  year      = {2019},\n  abstract  = {The task of robotic mobile manipulation poses several scientific\n               challenges that need to be addressed to execute complex\n               manipulation tasks in unstructured environments, in which\n               collaboration with humans might be required. Therefore, we\n               present ALMA, a motion planning and control framework for a\n               torque-controlled quadrupedal robot equipped with a six degrees\n               of freedom robotic arm capable of performing dynamic locomotion\n               while executing manipulation tasks. The online motion planning\n               framework, together with a whole-body controller based on a\n               hierarchical optimization algorithm, enables the system to walk,\n               trot and pace while executing operational space end-effector\n               control, reactive human-robot collaboration and torso posture\n               optimization to increase the arm's workspace. The torque control\n               of the whole system enables the implementation of compliant\n               behavior, allowing a user to safely interact with the robot.\n               We verify our framework on the real robot by performing tasks\n               such as opening a door and carrying a payload together with a\n               human.},\n  keywords  = {legged Robots, mobile manipulation, optimization and\n               optimal control},\n  url_pdf   = {files/bellicoso2019alma.pdf},\n  url_video = {https://youtu.be/XrcLXX4AEWE},\n}\n\n

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\n \n\n \n \n \n \n \n \n Keep Rollin'- Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots.\n \n \n \n \n\n\n \n Bjelonic, M.; Bellicoso, C. D.; de Viragh, Y.; Sako, D.; Tresoldi, F D.; Jenelten, F.; and Hutter, M.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Keep$ pdf\n \n \n \n $\"Keep$ video\n \n \n \n $\"Keep$ link\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 26 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{bjelonic2019keep,\n  author    = {Bjelonic, Marko and\n               Bellicoso, C. Dario and\n               de Viragh, Yvain and\n               Sako, Dhionis and\n               Tresoldi, F Dante and\n               Jenelten, Fabian and\n               Hutter, Marco},\n  title     = {Keep Rollin'- Whole-Body Motion Control and Planning for Wheeled\n               Quadrupedal Robots},\n  journal   = {IEEE Robotics and Automation Letters},\n  year      = {2019},\n  doi       = {arXiv:1809.03557},\n  abstract  = {We show dynamic locomotion strategies for wheeled quadrupedal \n               robots, which combine the advantages of both walking and\n               driving. The developed optimization framework tightly integrates\n               the additional degrees of freedom introduced by the wheels. Our\n               approach relies on a zero-moment point based motion optimization\n               which continuously updates reference trajectories. The reference\n               motions are tracked by a hierarchical whole-body controller\n               which computes optimal generalized accelerations and contact\n               forces by solving a sequence of prioritized tasks including the\n               nonholonomic rolling constraints. Our approach has been tested \n               on ANYmal, a quadrupedal robot that is fully torque-controlled\n               including the non-steerable wheels attached to its legs. We\n               conducted experiments on flat and inclined terrains as well as\n               over steps, whereby we show that integrating the wheels into the\n               motion control and planning framework results in intuitive\n               motion trajectories, which enable more robust and dynamic\n               locomotion compared to other wheeled-legged robots. Moreover,\n               with a speed of 4 m/s and a reduction of the cost of transport\n               by 83 % we prove the superiority of wheeled-legged robots\n               compared to their legged counterparts.},\n  keywords  = {legged robots, wheeled robots, motion control,\n               motion and path planning, optimization and optimal control},\n  url_pdf   = {bjelonic2019keep.pdf},\n  url_video = {https://youtu.be/nGLUsyx9Vvc},\n  url_link  = {https://arxiv.org/abs/1809.03557},\n}\n\n

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\n \n\n \n \n \n \n \n \n Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints.\n \n \n \n \n\n\n \n de Viragh, Y.; Bjelonic, M.; Bellicoso, C. D.; Jenelten, F.; and Hutter, M.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 4(2): 1633-1640. 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Trajectory$ pdf\n \n \n \n $\"Trajectory$ video\n \n \n \n $\"Trajectory$ link\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 19 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{deviragh2019trajectory,\n  author    = {de Viragh, Yvain and\n               Bjelonic, Marko and\n               Bellicoso, C. Dario and\n               Jenelten, Fabian and\n               Hutter, Marco},\n  title     = {Trajectory Optimization for Wheeled-Legged Quadrupedal Robots\n               using Linearized ZMP Constraints},\n  journal   = {IEEE Robotics and Automation Letters},\n  volume    = {4},\n  number    = {2},\n  pages     = {1633-1640},\n  year      = {2019},\n  doi       = {10.1109/LRA.2019.2896721},\n  abstract  = {We present a trajectory optimizer for quadrupedal\n               robots with actuated wheels. By solving for angular, vertical,\n               and planar components of the base and feet trajectories in a\n               cascaded fashion and by introducing a novel linear formulation of\n               the zero-moment point (ZMP) balance criterion, we rely on\n               quadratic programming only, thereby eliminating the need for\n               nonlinear optimization routines. Yet, even for gaits containing\n               full flight phases, we are able to generate trajectories for\n               executing complex motions that involve simultaneous driving,\n               walking, and turning. We verified our approach in simulations of\n               the quadrupedal robot ANYmal equipped with wheels, where we are\n               able to run the proposed trajectory optimizer at 50 Hz. To the\n               best of our knowledge, this is the first time that such dynamic\n               motions are demonstrated for wheeled-legged quadrupedal robots\n               using an online motion planner.},\n  keywords  = {legged robots, wheeled robots,\n               motion and path planning, optimization and optimal control},\n  url_pdf   = {files/deviragh2019trajectory.pdf},\n  url_video = {https://youtu.be/I1aTCTc0J4U},\n  url_link  = {https://ieeexplore.ieee.org/document/8630448}\n}\n\n

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\n \n\n \n \n \n \n \n \n Learning agile and dynamic motor skills for legged robots.\n \n \n \n \n\n\n \n Hwangbo, J.; Lee, J.; Dosovitskiy, A.; Bellicoso, C. D.; Tsounis, V.; Koltun, V.; and Hutter, M.\n\n\n \n\n\n\n Science Robotics, 4(26). 2019.\n \n\n\n\n
\n\n\n\n \n \n $\"Learning$ Paper\n \n \n \n $\"Learning$ video\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article {hwangbo2019learning,\n    author        = {Hwangbo, Jemin and Lee, Joonho and Dosovitskiy, Alexey and Bellicoso, C. Dario and Tsounis, Vassilios and Koltun, Vladlen and Hutter, Marco},\n    title         = {Learning agile and dynamic motor skills for legged robots},\n    volume        = {4},\n    number        = {26},\n    elocation-id  = {eaau5872},\n    year          = {2019},\n    doi           = {10.1126/scirobotics.aau5872},\n    publisher     = {Science Robotics},\n    abstract      = {\n                    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 craftsmanship and promotes the natural evolution of a control policy. However, so far, reinforcement learning research for legged robots is mainly limited to simulation, and only few and comparably simple examples have been deployed on real systems. The primary reason is that training with real robots, particularly with dynamically balancing systems, is complicated and expensive. In the present work, we introduce a method for training a neural network policy in simulation and transferring it to a state-of-the-art legged system, thereby leveraging fast, automated, and cost-effective data generation schemes. The approach is applied to the ANYmal robot, a sophisticated medium-dog{\\textendash}sized quadrupedal system. Using policies trained in simulation, the quadrupedal machine achieves locomotion skills that go beyond what had been achieved with prior methods: ANYmal is capable of precisely and energy-efficiently following high-level body velocity commands, running faster than before, and recovering from falling even in complex configurations.\n                    },\n    URL           = {http://robotics.sciencemag.org/content/4/26/eaau5872},\n    eprint        = {http://robotics.sciencemag.org/content/4/26/eaau5872.full.pdf},\n    journal       = {Science Robotics},\n    url_video     = {https://youtu.be/aTDkYFZFWug},\n}\n\n

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\n \n\n \n \n \n \n \n Optimization-based planning and control for multi-limbed walking robots.\n \n \n \n\n\n \n Bellicoso, C. D.\n\n\n \n\n\n\n Ph.D. Thesis, ETH Zurich, 2019.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@phdthesis{bellicoso2019phd,\n  author    = "C. Dario Bellicoso",\n  title     = "Optimization-based planning and control for multi-limbed walking robots",\n  school    = "ETH Zurich",\n  year      = "2019",\n}\n\n

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\n \n 2018\n \n \n (8)\n \n \n

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\n \n\n \n \n \n \n \n \n Advances in Real-World Applications for Legged Robots.\n \n \n \n \n\n\n \n Bellicoso, C. D.; Bjelonic, M.; Wellhausen, L.; Sako, D.; Holtmann, K.; Guenther, F.; Tranzatto, M.; Fankhauser, P.; and Hutter, M.\n\n\n \n\n\n\n Journal of Field Robotics, 35(8): 1311-1326. 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Advances$ pdf\n \n \n \n $\"Advances$ video\n \n \n \n $\"Advances$ link\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 2 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{bellicoso2018advances,\n  author    = {Bellicoso, C. Dario and\n               Bjelonic, Marko and\n               Wellhausen, Lorenz and\n               Sako, Dhionis and\n               Holtmann, Kai and\n               Guenther, Fabian and\n               Tranzatto, Marco and\n               Fankhauser, P{\\'e}ter and\n               Hutter, Marco},\n  title     = {Advances in Real-World Applications for Legged Robots},\n  journal   = {Journal of Field Robotics},\n  volume    = {35},\n  number    = {8},\n  pages     = {1311-1326},\n  doi       = {10.1002/rob.21839},\n  year      = {2018},\n  abstract  = {This paper provides insight into the application of the\n               quadrupedal robot ANYmal in outdoor missions of industrial\n               inspection (ARGOS Challenge) and search and rescue (European\n               Robotics League (ERL)  Emergency Robots). In both competitions,\n               the legged robot had to autonomously and semi-autonomously\n               navigate in real-world scenarios to complete high-level tasks\n               such as inspection and payload delivery. In the ARGOS\n               competition, ANYmal used a rotating LiDAR sensor to\n               localize on the industrial site and map the terrain and obstacles\n               around the robot. In the ERL competition, additional Real-Time\n               Kinematic (RTK)-Global Positioning System (GPS) was used to\n               co-localize the legged robot with respect to a Micro Aerial\n               Vehicle (MAV) that creates maps from the aerial view. The high\n               mobility of legged robots allows overcoming large obstacles, e.g.\n               steps and stairs, with statically and dynamically stable gaits.\n               Moreover, the versatile machine can adapt its posture for\n               inspection and payload delivery. The paper concludes with insight\n               into the general learnings from the ARGOS and ERL challenges.},\n  keywords  = {legged robot, quadrupedal robot, localization, mapping,\n               challenge},\n  url_pdf   = {files/bellicoso2018advances.pdf},\n  url_video = {https://youtu.be/qrJlMze_xhQ},\n  url_link  = {https://doi.org/10.1002/rob.21839}\n}\n\n

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\n \n\n \n \n \n \n \n \n Real-Time Dance Generation to Music for a Legged Robot.\n \n \n \n \n\n\n \n Bi, T.; Fankhauser, P.; Bellicoso, C. D.; and Hutter, M.\n\n\n \n\n\n\n In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1038-1044, oct 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"Real-Time$ video\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n\n

@inproceedings{bi2018realtime, \nauthor      = {Bi, Thomas and\n               Fankhauser, P{\\'e}ter and\n               Bellicoso, C. Dario and\n               Hutter, Marco}, \nbooktitle   = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, \ntitle       = {Real-Time Dance Generation to Music for a Legged Robot}, \nyear        = {2018}, \nvolume      = {}, \nnumber      = {}, \npages       = {1038-1044}, \nkeywords    = {feedback;feedforward;humanoid robots;image motion analysis;legged locomotion;Markov processes;motion control;music;robot vision;synchronisation;music tempo;dance generation;feedforward delay controller;Markov chain;quadrupedal robot;robot whole-body controller reference input;feedback delay controller;time-shifting;delays;picked dance motion;base motions;stepping motions;dance motions;user-generated dance motion library;dance choreography;onboard microphone;live music;external stimuli;legged robot;Robot kinematics;Legged locomotion;Music;Delays;Trajectory;Real-time systems}, \ndoi         = {10.1109/IROS.2018.8593983}, \nISSN        = {2153-0866}, \nmonth       = {oct},\nurl_video   = {https://youtu.be/kHBLaw5nfzk},\n}\n\n

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\n \n\n \n \n \n \n \n \n Skating with a force controlled quadrupedal robot.\n \n \n \n \n\n\n \n Bjelonic, M.; Bellicoso, C. D.; Tiryaki, M E.; and Hutter, M.\n\n\n \n\n\n\n In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7555–7561, 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"Skating$ pdf\n \n \n \n $\"Skating$ video\n \n \n \n $\"Skating$ link\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{bjelonic2018skating,\n  author    = {Bjelonic, Marko and\n               Bellicoso, C. Dario and\n               Tiryaki, M Efe and\n               Hutter, Marco},\n  title     = {Skating with a force controlled quadrupedal robot},\n  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and\n               Systems (IROS)},\n  year      = {2018},\n  pages     = {7555--7561},\n  doi       = {10.1109/IROS.2018.8594504},\n  abstract  = {Traditional legged robots are capable of traversing challenging\n               terrain, but lack of energy efficiency when compared to wheeled\n               systems operating on flat environments. The combination of both\n               locomotion domains overcomes the trade-off between mobility and\n               efficiency. Therefore, this paper presents a novel motion planner\n               and controller which together enable a legged robot equipped with\n               skates to perform skating maneuvers. These are achieved by an\n               appropriate combination of planned reaction forces and gliding\n               motions. Our novel motion controller formulates a Virtual Model\n               Controller and an optimal contact force distribution which takes\n               into account the nonholonomic constraints introduced by the\n               skates. This approach has been tested on the torque-controllable\n               robot ANYmal equipped with passive wheels and ice skates as\n               end-effectors. We conducted experiments on flat and inclined\n               terrain, whereby we show that skating motions reduces the cost\n               of transport by up to 80{\\,\\%} with respect to traditional walking\n               gaits.},\n  keywords  = {legged locomotion, quadrupedal robot, skating, motion control,\n               force control},\n  url_pdf   = {files/bjelonic2018skating.pdf},\n  url_video = {https://youtu.be/fJfAWiylpxw},\n  url_link  = {https://ieeexplore.ieee.org/document/8594504}\n}\n\n

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\n \n\n \n \n \n \n \n Efficient Gait Selection for Quadrupedal Robots on the Moon and Mars.\n \n \n \n\n\n \n Kolvenbach, H.; Bellicoso, C. D.; Jenelten, F.; Wellhausen, L.; and Hutter, M.\n\n\n \n\n\n\n In 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018), 2018. ESA Conference Bureau\n \n\n\n\n
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@inproceedings{kolvenbach2018efficient,\n  title={Efficient Gait Selection for Quadrupedal Robots on the Moon and Mars},\n  author={Kolvenbach, Hendrik and Bellicoso, C. Dario and Jenelten, Fabian and Wellhausen, Lorenz and Hutter, Marco},\n  booktitle={14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2018)},\n  year={2018},\n  organization={ESA Conference Bureau}\n}\n\n

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\n \n\n \n \n \n \n \n \n Robust Rough-Terrain Locomotion with a Quadrupedal Robot.\n \n \n \n \n\n\n \n Fankhauser, P.; Bjelonic, M.; Bellicoso, C. D.; Miki, T.; and Hutter, M.\n\n\n \n\n\n\n In IEEE International Conference on Robotics and Automation (ICRA), 2018. \n \n\n\n\n
\n\n\n\n \n \n $\"Robust$ video\n \n \n \n $\"Robust$ link\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 4 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@inproceedings{fankhauser2018robust,\n  author    = {Fankhauser, P{\\'e}ter and\n               Bjelonic, Marko and\n               Bellicoso, C. Dario and\n               Miki, Takahiro and\n               Hutter, Marco},\n  title     = {Robust Rough-Terrain Locomotion with a Quadrupedal Robot},\n  booktitle = {IEEE International Conference on Robotics and Automation\n              (ICRA)},\n  year      = {2018},\n  doi       = {10.1109/ICRA.2018.8460731},\n  abstract  = {Robots working in natural, urban, and industrial settings need to\n               be able to navigate challenging environments. In this paper, we\n               present a motion planner for the perceptive rough-terrain\n               locomotion with quadrupedal robots. The planner finds safe\n               footholds along with collision-free swing-leg motions by\n               leveraging an acquired terrain map. To this end, we present a\n               novel pose optimization approach that enables the robot to climb\n               over significant obstacles. We experimentally validate our\n               approach with the quadrupedal robot ANYmal by autonomously\n               traversing obstacles such steps, inclines, and stairs. The\n               locomotion planner re-plans the motion at every step to cope with\n               disturbances and dynamic environments. The robot has no prior\n               knowledge of the scene, and all mapping, state estimation,\n               control, and planning is performed in real-time onboard the\n               robot.},\n  keywords  = {legged locomotion, robot sensing systems, planning,\n               collision avoidance},\n  url_video = {https://youtu.be/CpzQu25iLa0},\n  url_link  = {https://ieeexplore.ieee.org/document/8460731},\n}\n\n

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\n \n\n \n \n \n \n \n \n Gait and trajectory optimization for legged systems through phase-based end-effector parameterization.\n \n \n \n \n\n\n \n Winkler, A. W; Bellicoso, C. D.; Hutter, M.; and Buchli, J.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 3(3): 1560–1567. 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Gait$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{winkler2018gait,\n    title       = {Gait and trajectory optimization for legged systems through phase-based end-effector parameterization},\n    abstract    = {\n                  We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds, swing-leg motions, and six-dimensional body motion over nonflat terrain, without any additional modules. Our phase-based parameterization of feet motion and forces allows to optimize over the discrete gait sequence using only continuous decision variables. The system is represented using a simplified centroidal dynamics model that is influenced by the feet's location and forces. We explicitly enforce friction cone constraints, depending on the shape of the terrain. The nonlinear programming problem solver generates highly dynamic motion plans with full flight phases for a variety of legged systems with arbitrary morphologies in an efficient manner. We validate the feasibility of the generated plans in simulation and on the real quadruped robot ANYmal. Additionally, the entire solver software TOWR, which used to generate these motions is made freely available.\n                  },\n    author      = {Winkler, Alexander W and Bellicoso, C. Dario and Hutter, Marco and Buchli, Jonas},\n    journal     = {IEEE Robotics and Automation Letters},\n    volume      = {3},\n    number      = {3},\n    pages       = {1560--1567},\n    year        = {2018},\n    publisher   = {IEEE},\n    url_video   = {https://youtu.be/0jE46GqzxMM},\n}\n\n

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\n \n\n \n \n \n \n \n \n Whole-body nonlinear model predictive control through contacts for quadrupeds.\n \n \n \n \n\n\n \n Neunert, M.; Stäuble, M.; Giftthaler, M.; Bellicoso, C. D.; Carius, J.; Gehring, C.; Hutter, M.; and Buchli, J.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 3(3): 1458–1465. jan 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Whole-body$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{neunert2018whole,\n    title       = {Whole-body nonlinear model predictive control through contacts for quadrupeds},\n    author      = {Neunert, Michael and St{\\"a}uble, Markus and Giftthaler, Markus and Bellicoso, C. Dario and Carius, Jan and Gehring, Christian and Hutter, Marco and Buchli, Jonas},\n    abstract    = {\n                  In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts. We use a full-dynamic system model which also includes explicit contact dynamics. Therefore, contact locations, sequences, and timings are not prespecified but optimized by the solver. Yet, using numerical and software engineering allows for running the nonlinear Optimal Control solver at rates up to 190 Hz on a quadruped for a time horizon of half a second. This outperforms the state-of-the-art by at least one order of magnitude. Hardware experiments in the form of periodic and nonperiodic tasks are applied to two quadrupeds with different actuation systems. The obtained results underline the performance, transferability, and robustness of the approach.\n                  },\n    journal     = {IEEE Robotics and Automation Letters},\n    volume      = {3},\n    number      = {3},\n    pages       = {1458--1465},\n    year        = {2018},\n    month       = {jan},\n    publisher   = {IEEE},\n    url_video   = {https://youtu.be/mRC0x7KOnNE},\n}\n\n

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\n \n\n \n \n \n \n \n \n Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots.\n \n \n \n \n\n\n \n Bellicoso, C. D.; Jenelten, F.; Gehring, C.; and Hutter, M.\n\n\n \n\n\n\n IEEE Robotics and Automation Letters, 3(3): 2261–2268. jan 2018.\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{bellicoso2018dynamic,\n    title       = {Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots},\n    author      = {Bellicoso, C. Dario and Jenelten, Fabian and Gehring, Christian and Hutter, Marco},\n    abstract    = {\n                  This letter presents a realtime motion planning and control method that enables a quadrupedal robot to execute dynamic gaits including trot, pace, and dynamic lateral walk, as well as gaits with full flight phases such as jumping, pronking, and running trot. The proposed method also enables smooth transitions between these gaits. Our approach relies on an online zero-moment point based motion planner which continuously updates the reference motion trajectory as a function of the contact schedule and the state of the robot. The reference footholds for each leg are obtained by solving a separate optimization problem. The resulting optimized motion plans are tracked by a hierarchical whole-body controller. Our framework has been tested in simulation and on ANYmal, a fully torque-controllable quadrupedal robot, both in simulation and on the actual robot.\n                  },\n    journal     = {IEEE Robotics and Automation Letters},\n    volume      = {3},\n    number      = {3},\n    pages       = {2261--2268},\n    year        = {2018},\n    month       = {jan},\n    publisher   = {IEEE},\n    url_video   = {https://youtu.be/wQpLzoEzsx8},\n}\n\n

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\n \n 2017\n \n \n (3)\n \n \n

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\n \n\n \n \n \n \n \n \n Dynamic locomotion and whole-body control for quadrupedal robots.\n \n \n \n \n\n\n \n Bellicoso, C. D.; Jenelten, F.; Fankhauser, P.; Gehring, C.; Hwangbo, J.; and Hutter, M.\n\n\n \n\n\n\n In International Conference on Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ, pages 3359–3365, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{bellicoso2017dynamic,\n  title={Dynamic locomotion and whole-body control for quadrupedal robots},\n  author={Bellicoso, C. Dario and Jenelten, Fabian and Fankhauser, P{\\'e}ter and Gehring, Christian and Hwangbo, Jemin and Hutter, Marco},\n  booktitle={International Conference on Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ},\n  pages={3359--3365},\n  year={2017},\n  organization={IEEE},\n  url_video = {https://youtu.be/iUQE-ZQqdJY},\n}\n\n

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\n \n\n \n \n \n \n \n \n ANYmal-toward legged robots for harsh environments.\n \n \n \n \n\n\n \n Hutter, M.; Gehring, C.; Lauber, A.; Gunther, F; Bellicoso, C. D.; Tsounis, V.; Fankhauser, P.; Diethelm, R.; Bachmann, S.; Blösch, M.; Kolvenbach, H.; Bjelonic, M.; and others\n\n\n \n\n\n\n Advanced Robotics,918–931. 2017.\n \n\n\n\n
\n\n\n\n \n \n $\"ANYmal-toward$ pdf\n \n \n \n $\"ANYmal-toward$ link\n \n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n \n \n abstract \n \n\n \n \n \n 6 downloads\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n

@article{hutter2017anymal,\n  author    = {Hutter, Marco and\n               Gehring, Christian and\n               Lauber, Andreas and\n               Gunther, F and\n               Bellicoso, C. Dario and\n               Tsounis, Vassilios and\n               Fankhauser, P{\\'e}ter and\n               Diethelm, Remo and\n               Bachmann, Samuel and\n               Bl{\\"o}sch, Michael and\n               Kolvenbach, Hendrik and\n               Bjelonic, Marko and\n               others},\n  title     = {ANYmal-toward legged robots for harsh environments},\n  journal   = {Advanced Robotics},\n  year      = {2017},\n  pages     = {918--931},\n  doi       = {10.1080/01691864.2017.1378591},\n  abstract  = {This paper provides a system overview about ANYmal, a quadrupedal\n               robot developed for operation in harsh environments. The 30 kg,\n               0.5 m tall robotic dog was built in a modular way for simple\n               maintenance and user-friendly handling, while focusing on high\n               mobility and dynamic motion capability. The system is tightly\n               sealed to reach IP67 standard and protected to survive falls.\n               Rotating lidar sensors in the front and back are used for\n               localization and terrain mapping and compact force sensors in the\n               feet provide accurate measurements about the contact situations.\n               The variable payload, such as a modular pan-tilt head with a\n               variety of inspection sensors, can be exchanged depending on the\n               application. Thanks to novel, compliant joint modules with\n               integrated electronics, ANYmal is precisely torque controllable\n               and very robust against impulsive loads during running or\n               jumping. In a series of experiments we demonstrate that ANYmal\n               can execute various climbing maneuvers, walking gaits, as well as\n               a dynamic trot and jump. As special feature, the joints can be\n               fully rotated to switch between X- and O-type kinematic\n               configurations. Detailed measurements unveil a low energy\n               consumption of 280 W during locomotion, which results in an\n               autonomy of more than 2 h.},\n  keywords  = {legged robot, quadruped robot, field robotics,\n               series elastic actuation, autonomous navigation},\n  url_pdf   = {files/hutter2017anymaltoward.pdf},\n  url_link  = {https://doi.org/10.1080/01691864.2017.1378591},\n}\n\n

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\n \n\n \n \n \n \n \n Quadrupedal locomotion using trajectory optimization and hierarchical whole body control.\n \n \n \n\n\n \n Gehring, C.; Bellicoso, C. D.; Fankhauser, P.; Coros, S.; and Hutter, M.\n\n\n \n\n\n\n In International Conference on Robotics and Automation (ICRA), 2017 IEEE, pages 4788–4794, 2017. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gehring2017quadrupedal,\n  title={Quadrupedal locomotion using trajectory optimization and hierarchical whole body control},\n  author={Gehring, Christian and Bellicoso, C. Dario and Fankhauser, P{\\'e}ter and Coros, Stelian and Hutter, Marco},\n  booktitle={International Conference on Robotics and Automation (ICRA), 2017 IEEE},\n  pages={4788--4794},\n  year={2017},\n  organization={IEEE}\n}\n\n

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\n \n 2016\n \n \n (7)\n \n \n

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\n \n\n \n \n \n \n \n Perception-less terrain adaptation through whole body control and hierarchical optimization.\n \n \n \n\n\n \n Bellicoso, C. D.; Gehring, C.; Hwangbo, J.; Fankhauser, P.; and Hutter, M.\n\n\n \n\n\n\n In International Conference on Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th, pages 558–564, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{bellicoso2016perception,\n  title={Perception-less terrain adaptation through whole body control and hierarchical optimization},\n  author={Bellicoso, C. Dario and Gehring, Christian and Hwangbo, Jemin and Fankhauser, P{\\'e}ter and Hutter, Marco},\n  booktitle={International Conference on Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th},\n  pages={558--564},\n  year={2016},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n Free gait—An architecture for the versatile control of legged robots.\n \n \n \n\n\n \n Fankhauser, P.; Bellicoso, C. D.; Gehring, C.; Dubé, R.; Gawel, A.; and Hutter, M.\n\n\n \n\n\n\n In International Conference on Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th, pages 1052–1058, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{fankhauser2016free,\n  title={Free gait—An architecture for the versatile control of legged robots},\n  author={Fankhauser, P{\\'e}ter and Bellicoso, C. Dario and Gehring, Christian and Dub{\\'e}, Renaud and Gawel, Abel and Hutter, Marco},\n  booktitle={International Conference on Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th},\n  pages={1052--1058},\n  year={2016},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n ANYpulator: Design and control of a safe robotic arm.\n \n \n \n\n\n \n Bodie, K.; Bellicoso, C. D.; and Hutter, M.\n\n\n \n\n\n\n In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 1119–1125, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{bodie2016anypulator,\n  title={ANYpulator: Design and control of a safe robotic arm},\n  author={Bodie, Karen and Bellicoso, C. Dario and Hutter, Marco},\n  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},\n  pages={1119--1125},\n  year={2016},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics.\n \n \n \n\n\n \n Hwangbo, J.; Bellicoso, C. D.; Fankhauser, P.; and Hutter, M.\n\n\n \n\n\n\n In International Conference on Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ, pages 3872–3878, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hwangbo2016probabilistic,\n  title={Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics},\n  author={Hwangbo, Jemin and Bellicoso, C. Dario and Fankhauser, P{\\'e}ter and Hutter, Marco},\n  booktitle={International Conference on Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ},\n  pages={3872--3878},\n  year={2016},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n Anymal-a highly mobile and dynamic quadrupedal robot.\n \n \n \n\n\n \n Hutter, M.; Gehring, C.; Jud, D.; Lauber, A.; Bellicoso, C. D.; Tsounis, V.; Hwangbo, J.; Bodie, K.; Fankhauser, P.; Bloesch, M.; and others\n\n\n \n\n\n\n In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 38–44, 2016. IEEE\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{hutter2016anymal,\n  title={Anymal-a highly mobile and dynamic quadrupedal robot},\n  author={Hutter, Marco and Gehring, Christian and Jud, Dominic and Lauber, Andreas and Bellicoso, C. Dario and Tsounis, Vassilios and Hwangbo, Jemin and Bodie, Karen and Fankhauser, Peter and Bloesch, Michael and others},\n  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n  pages={38--44},\n  year={2016},\n  organization={IEEE}\n}\n\n

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\n \n\n \n \n \n \n \n \n A Primer on the Differential Calculus of 3D Orientations.\n \n \n \n \n\n\n \n Bloesch, M.; Sommer, H.; Laidlow, T.; Burri, M.; Nützi, G.; Fankhauser, P.; Bellicoso, C. D.; Gehring, C.; Leutenegger, S.; Hutter, M.; and Siegwart, R.\n\n\n \n\n\n\n CoRR, abs/1606.05285. 2016.\n \n\n\n\n
\n\n\n\n \n \n $\"A$ Paper\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{bloesch2016primer,\n    author        = {Michael Bloesch and\n                    Hannes Sommer and\n                    Tristan Laidlow and\n                    Michael Burri and\n                    Gabriel N{\\"{u}}tzi and\n                    Peter Fankhauser and\n                    C. Dario Bellicoso and\n                    Christian Gehring and\n                    Stefan Leutenegger and\n                    Marco Hutter and\n                    Roland Siegwart},\n    title         = {A Primer on the Differential Calculus of 3D Orientations},\n    journal       = {CoRR},\n    volume        = {abs/1606.05285},\n    year          = {2016},\n    url           = {http://arxiv.org/abs/1606.05285},\n    archivePrefix = {arXiv},\n    eprint        = {1606.05285},\n    timestamp     = {Mon, 13 Aug 2018 16:46:10 +0200},\n    biburl        = {https://dblp.org/rec/bib/journals/corr/BloschSLBNFBGLH16},\n    bibsource     = {dblp computer science bibliography, https://dblp.org}\n}\n\n

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\n \n\n \n \n \n \n \n Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot.\n \n \n \n\n\n \n Gehring, C.; Coros, S.; Hutter, M.; Bellicoso, C. D.; Heijnen, H.; Diethelm, R.; Bloesch, M.; Fankhauser, P.; Hwangbo, J.; Hoepflinger, M.; and others\n\n\n \n\n\n\n IEEE Robotics & Automation Magazine, 23(1): 34–43. 2016.\n \n\n\n\n
\n\n\n\n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@article{gehring2016practice,\n  title={Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot},\n  author={Gehring, Christian and Coros, Stelian and Hutter, Marco and Bellicoso, C. Dario and Heijnen, Huub and Diethelm, Remo and Bloesch, Michael and Fankhauser, P{\\'e}ter and Hwangbo, Jemin and Hoepflinger, Mark and others},\n  journal={IEEE Robotics \\& Automation Magazine},\n  volume={23},\n  number={1},\n  pages={34--43},\n  year={2016},\n  publisher={IEEE}\n}\n\n

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\n \n 2015\n \n \n (3)\n \n \n

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\n \n\n \n \n \n \n \n Direct state-to-action mapping for high DOF robots using ELM.\n \n \n \n\n\n \n Hwangbo, J.; Gehring, C.; Bellicoso, C. D.; Fankhauser, P.; Siegwart, R.; and Hutter, M.\n\n\n \n\n\n\n In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 2842-2847, sep 2015. \n \n\n\n\n
\n\n\n\n \n\n \n \n doi\n \n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n\n

@inproceedings{hwangbo2015direct,\n    author      = {Hwangbo, Jemin and\n                   Gehring, Christian and\n                   Bellicoso, C. Dario and\n                   Fankhauser, P{\\'e}ter and\n                   Siegwart, Roland and\n                   Hutter, Marco},\n    booktitle   = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\n    title       ={Direct state-to-action mapping for high DOF robots using ELM},\n    year        ={2015},\n    volume      ={},\n    number      ={},\n    pages       ={2842-2847},\n    keywords    ={feedforward neural nets;intelligent robots;learning (artificial intelligence);mobile robots;optimal control;optimisation;trajectory optimisation (aerospace);\n                  direct state-to-action mapping;high-DOF robots;trajectory optimization;high-degree-of-freedom robots;information compression;optimal policy function;single-hidden layer feedforward neural network;SLFN;optimally-pruned extreme learning machine;OP-ELM;time-optimal control problem;analytical solution;foothold strategy optimizing;quadruped robot;Trajectory;Robots;Kernel;Approximation methods;Neural networks;Memory management;Optimization},\n    doi         ={10.1109/IROS.2015.7353768},\n    month       ={sep}\n}\n\n

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\n \n\n \n \n \n \n \n \n Dynamic trotting on slopes for quadrupedal robots.\n \n \n \n \n\n\n \n Gehring, C.; Bellicoso, C. D.; Coros, S.; Bloesch, M.; Fankhauser, P.; Hutter, M.; and Siegwart, R.\n\n\n \n\n\n\n In International Conference on Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ, pages 5129–5135, 2015. IEEE\n \n\n\n\n
\n\n\n\n \n \n $\"Dynamic$ video\n \n \n\n \n\n \n link\n \n \n\n bibtex\n \n\n \n\n \n\n \n \n \n \n \n \n \n\n \n \n \n\n\n\n

@inproceedings{gehring2015dynamic,\n  title={Dynamic trotting on slopes for quadrupedal robots},\n  author={Gehring, Christian and Bellicoso, C. Dario and Coros, Stelian and Bloesch, Michael and Fankhauser, P{\\'e}ter and Hutter, Marco and Siegwart, Roland},\n  booktitle={International Conference on Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ},\n  pages={5129--5135},\n  year={2015},\n  organization={IEEE},\n  url_video = {https://www.youtube.com/watch?v=NPuHwxpVUpg},\n}\n\n

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\n \n\n \n \n \n \n \n Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation.\n \n \n \n\n\n \n Bellicoso, C. D.; Buonocore, L. R.; Lippiello, V.; and Siciliano, B.\n\n\n \n\n\n\n In Mediterranean Conference on Control and Automation (MED), 2015 23th, pages 853–858, 2015. IEEE\n \n\n\n\n
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@inproceedings{bellicoso2015design,\n  title={Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation},\n  author={Bellicoso, C. Dario and Buonocore, Luca Rosario and Lippiello, Vincenzo and Siciliano, Bruno},\n  booktitle={Mediterranean Conference on Control and Automation (MED), 2015 23th},\n  pages={853--858},\n  year={2015},\n  organization={IEEE}\n}\n

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