var bibbase_data = {"data":"<img src=\"//bibbase.org/img/ajax-loader.gif\" id=\"spinner\"\n  style=\"display: none;\" alt=\"Loading..\" />\n\n<div id=\"bibbase\">\n\n  <script type=\"text/javascript\">\n    var bibbase = {\n      params: {\"bib\":\"https://www.markobjelonic.com//publications/bibliography.bib\",\"jsonp\":\"1\",\"host\":\"bibbase.org\",\"ssl\":false},\n      data: [{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Homberger\"],\"firstnames\":[\"Timon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Borges\"],\"firstnames\":[\"Paulo\",\"VK\"],\"suffixes\":[]}],\"title\":\"Terrain-dependant Control of Hexapod Robots using Vision\",\"booktitle\":\"International Symposium on Experimental Robotics (ISER)\",\"year\":\"2016\",\"pages\":\"92–102\",\"doi\":\"10.1007/978-3-319-50115-4_9\",\"abstract\":\"The ability to traverse uneven terrain is one of the key advantages of legged robots. However, their effectiveness relies on selecting appropriate gait parameters, such as stride height and leg stiffness. The optimal parameters highly depend on the characteristics of the terrain. This work presents a novel stereo vision based terrain sensing method for a hexapod robot with 30 degrees of freedom. The terrain in front of the robot is analyzed by extracting a set of features which enable the system to characterize a large number of terrain types. Gait parameters and leg stiffness for impedance control are adapted based on this terrain characterization. Experiments show that adaptive impedance control leads to efficient locomotion in terms of energy consumption, mission success and body stability.\",\"keywords\":\"legged locomotion, terrain perception\",\"url_pdf\":\"files/2016_iser_homberger.pdf\",\"url_video\":\"https://youtu.be/Rx4ewkxAItI\",\"url_link\":\"https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9\",\"bibtex\":\"@inproceedings{homberger2016terrain,\\n  author    = {Homberger, Timon and\\n               Bjelonic, Marko and\\n               Kottege, Navinda and\\n               Borges, Paulo VK},\\n  title     = {Terrain-dependant Control of Hexapod Robots using Vision},\\n  booktitle = {International Symposium on Experimental Robotics (ISER)},\\n  year      = {2016},\\n  pages     = {92--102},\\n  doi       = {10.1007/978-3-319-50115-4_9},\\n  abstract  = {The ability to traverse uneven terrain is one of the key\\n               advantages of legged robots. However, their effectiveness relies\\n               on selecting appropriate gait parameters, such as stride height\\n               and leg stiffness. The optimal parameters highly depend on the\\n               characteristics of the terrain. This work presents a novel stereo\\n               vision based terrain sensing method for a hexapod robot with 30\\n               degrees of freedom. The terrain in front of the robot is analyzed\\n               by extracting a set of features which enable the system to\\n               characterize a large number of terrain types. Gait parameters and\\n               leg stiffness for impedance control are adapted based on this\\n               terrain characterization. Experiments show that adaptive\\n               impedance control leads to efficient locomotion in terms of\\n               energy consumption, mission success and body stability.},\\n  keywords  = {legged locomotion, terrain perception},\\n  url_pdf   = {files/2016_iser_homberger.pdf},\\n  url_video = {https://youtu.be/Rx4ewkxAItI},\\n  url_link  = {https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9},\\n}\\n\\n\",\"author_short\":[\"Homberger, T.\",\"Bjelonic, M.\",\"Kottege, N.\",\"Borges, P. V.\"],\"key\":\"homberger2016terrain\",\"id\":\"homberger2016terrain\",\"bibbaseid\":\"homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2016_iser_homberger.pdf\",\" video\":\"https://youtu.be/Rx4ewkxAItI\",\" link\":\"https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9\"},\"keyword\":[\"legged locomotion\",\"terrain perception\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Beckerle\"],\"firstnames\":[\"Philipp\"],\"suffixes\":[]}],\"title\":\"Proprioceptive control of an over-actuated hexapod robot in unstructured terrain\",\"booktitle\":\"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"year\":\"2016\",\"pages\":\"2042–2049\",\"doi\":\"10.1109/IROS.2016.7759321\",\"abstract\":\"Legged robots such as hexapods have the potential to traverse unstructured terrain. This paper introduces a novel hexapod robot (Weaver) using a hierarchical controller, with the ability to efficiently traverse uneven and inclined terrain. The robot has five joints per leg and 30 degrees of freedom overall. The two redundant joints improve the locomotion of the robot by controlling the body pose and the leg orientation with respect to the ground. The impedance controller in Cartesian space reacts to unstructured terrain and thus achieves self-stabilizing behavior without prior profiling of the terrain through exteroceptive sensing. Instead of adding force sensors, the force at the foot tip is calculated by processing the current signals of the actuators. This work experimentally evaluates Weaver with the proposed controller and demonstrates that it can effectively traverse challenging terrains and high gradient slopes, reduce angular movements of the body by more than 55% and reduce the cost of transport (up to 50% on uneven terrain and by 85% on a slope with 20 °). The controller also enables Weaver to walk up inclines of up to 30 °, and remain statically stable on inclines up to 50 °. Furthermore, we present a new metric for legged robot stability performance along with a method for proprioceptive terrain characterization.\",\"keywords\":\"legged locomotion, impedance control\",\"url_pdf\":\"files/2016_iros_bjelonic.pdf\",\"url_video\":\"https://youtu.be/OxOMmovPpdI\",\"url_link\":\"https://ieeexplore.ieee.org/document/7759321\",\"bibtex\":\"@inproceedings{bjelonic2016proprioceptive,\\n  author    = {Bjelonic, Marko and\\n               Kottege, Navinda and\\n               Beckerle, Philipp},\\n  title     = {Proprioceptive control of an over-actuated hexapod robot in\\n               unstructured terrain},\\n  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and\\n               Systems (IROS)},\\n  year      = {2016},\\n  pages     = {2042--2049},\\n  doi       = {10.1109/IROS.2016.7759321},\\n  abstract  = {Legged robots such as hexapods have the potential to traverse\\n              unstructured terrain. This paper introduces a novel hexapod robot\\n              (Weaver) using a hierarchical controller, with the ability to\\n              efficiently traverse uneven and inclined terrain. The robot has\\n              five joints per leg and 30 degrees of freedom overall. The two\\n              redundant joints improve the locomotion of the robot by\\n              controlling the body pose and the leg orientation with respect to\\n              the ground. The impedance controller in Cartesian space reacts to\\n              unstructured terrain and thus achieves self-stabilizing behavior\\n              without prior profiling of the terrain through exteroceptive\\n              sensing. Instead of adding force sensors, the force at the foot\\n              tip is calculated by processing the current signals of the\\n              actuators. This work experimentally evaluates Weaver with the\\n              proposed controller and demonstrates that it can effectively\\n              traverse challenging terrains and high gradient slopes, reduce\\n              angular movements of the body by more than 55{\\\\%} and reduce the cost\\n              of transport (up to 50{\\\\%} on uneven terrain and by 85% on a slope\\n              with 20 °). The controller also enables Weaver to walk up\\n              inclines of up to 30 °, and remain statically stable on inclines\\n              up to 50 °. Furthermore, we present a new metric for legged robot\\n              stability performance along with a method for proprioceptive\\n              terrain characterization.},\\n  keywords  = {legged locomotion, impedance control},\\n  url_pdf   = {files/2016_iros_bjelonic.pdf},\\n  url_video = {https://youtu.be/OxOMmovPpdI},\\n  url_link  = {https://ieeexplore.ieee.org/document/7759321},\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Kottege, N.\",\"Beckerle, P.\"],\"key\":\"bjelonic2016proprioceptive\",\"id\":\"bjelonic2016proprioceptive\",\"bibbaseid\":\"bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2016_iros_bjelonic.pdf\",\" video\":\"https://youtu.be/OxOMmovPpdI\",\" link\":\"https://ieeexplore.ieee.org/document/7759321\"},\"keyword\":[\"legged locomotion\",\"impedance control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Elfes\"],\"firstnames\":[\"Alberto\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Steindl\"],\"firstnames\":[\"Ryan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Talbot\"],\"firstnames\":[\"Fletcher\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kendoul\"],\"firstnames\":[\"Farid\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sikka\"],\"firstnames\":[\"Pavan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lowe\"],\"firstnames\":[\"Tom\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Dungavell\"],\"firstnames\":[\"Ross\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bandyopadhyay\"],\"firstnames\":[\"Tirthankar\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"others\"],\"suffixes\":[]}],\"title\":\"The Multilegged Autonomous eXplorer (MAX)\",\"booktitle\":\"IEEE International Conference on Robotics and Automation (ICRA)\",\"year\":\"2017\",\"pages\":\"1050–1057\",\"doi\":\"10.1109/ICRA.2017.7989126\",\"abstract\":\"To address the goal of locomotion in very complex and difficult terrains, the authors are developing a new class of Ultralight Legged Robots. This paper presents the Multilegged Autonomous eXplorer (MAX), an ultralight, six-legged robot for traversal and exploration of challenging indoor and outdoor environments. The design of MAX emphasizes a low mass/size ratio, high locomotion efficiency, and high payload capability compared to total system mass. MAX is 2.25 m tall at full height and has a mass of approximately 60 kg, which makes it 5 to 20 times lighter than robots of comparable size. MAX is a research vehicle to explore modelling and control of Ultralight Legged Robots subject to flexing, oscillations and swaying; algorithms for gait planning and motion planning under uncertainty; and navigation planning for traversal of complex 3D terrains. This paper presents the design of MAX, provides an overview of the control system developed, summarizes results from indoor and outdoor tests, discusses system performance and outlines the challenges to be addressed next.\",\"keywords\":\"legged locomotion, actuators\",\"url_pdf\":\"files/2017_icra_elfes.pdf\",\"url_video\":\"https://youtu.be/nmELJzXl_Z8\",\"url_link\":\"https://ieeexplore.ieee.org/document/7989126\",\"bibtex\":\"@inproceedings{elfes2017multilegged,\\n  author    = {Elfes, Alberto and\\n               Steindl, Ryan and\\n               Talbot, Fletcher and\\n               Kendoul, Farid and\\n               Sikka, Pavan and\\n               Lowe, Tom and\\n               Kottege, Navinda and\\n               Bjelonic, Marko and\\n               Dungavell, Ross and\\n               Bandyopadhyay, Tirthankar and\\n               others},\\n  title     = {The Multilegged Autonomous eXplorer (MAX)},\\n  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},\\n  year      = {2017},\\n  pages     = {1050--1057},\\n  doi       = {10.1109/ICRA.2017.7989126},\\n  abstract  = {To address the goal of locomotion in very complex and difficult\\n              terrains, the authors are developing a new class of Ultralight\\n              Legged Robots. This paper presents the Multilegged Autonomous\\n              eXplorer (MAX), an ultralight, six-legged robot for traversal and\\n              exploration of challenging indoor and outdoor environments. The\\n              design of MAX emphasizes a low mass/size ratio, high locomotion\\n              efficiency, and high payload capability compared to total system\\n              mass. MAX is 2.25 m tall at full height and has a mass of\\n              approximately 60 kg, which makes it 5 to 20 times lighter than\\n              robots of comparable size. MAX is a research vehicle to explore\\n              modelling and control of Ultralight Legged Robots subject to\\n              flexing, oscillations and swaying; algorithms for gait planning\\n              and motion planning under uncertainty; and navigation planning for\\n              traversal of complex 3D terrains. This paper presents the design\\n              of MAX, provides an overview of the control system developed,\\n              summarizes results from indoor and outdoor tests, discusses system\\n              performance and outlines the challenges to be addressed next.},\\n  keywords  = {legged locomotion, actuators},\\n  url_pdf   = {files/2017_icra_elfes.pdf},\\n  url_video = {https://youtu.be/nmELJzXl_Z8},\\n  url_link  = {https://ieeexplore.ieee.org/document/7989126},\\n}\\n\\n\",\"author_short\":[\"Elfes, A.\",\"Steindl, R.\",\"Talbot, F.\",\"Kendoul, F.\",\"Sikka, P.\",\"Lowe, T.\",\"Kottege, N.\",\"Bjelonic, M.\",\"Dungavell, R.\",\"Bandyopadhyay, T.\",\"others\"],\"key\":\"elfes2017multilegged\",\"id\":\"elfes2017multilegged\",\"bibbaseid\":\"elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2017_icra_elfes.pdf\",\" video\":\"https://youtu.be/nmELJzXl_Z8\",\" link\":\"https://ieeexplore.ieee.org/document/7989126\"},\"keyword\":[\"legged locomotion\",\"actuators\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Homberger\"],\"firstnames\":[\"Timon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Borges\"],\"firstnames\":[\"Paulo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chli\"],\"firstnames\":[\"Margarita\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Beckerle\"],\"firstnames\":[\"Philipp\"],\"suffixes\":[]}],\"title\":\"Autonomous Navigation of Hexapod Robots with Vision-based Controller Adaptation\",\"booktitle\":\"IEEE International Conference on Robotics and Automation (ICRA)\",\"year\":\"2017\",\"pages\":\"5561–5568\",\"doi\":\"10.1109/ICRA.2017.7989655\",\"abstract\":\"This work introduces a novel hybrid control architecture for a hexapod platform (Weaver), making it capable of autonomously navigating in uneven terrain. The main contribution stems from the use of vision-based exteroceptive terrain perception to adapt the robot's locomotion parameters. Avoiding computationally expensive path planning for the individual foot tips, the adaptation controller enables the robot to reactively adapt to the surface structure it is moving on. The virtual stiffness, which mainly characterizes the behavior of the legs' impedance controller is adapted according to visually perceived terrain properties. To further improve locomotion, the frequency and height of the robot's stride are similarly adapted. Furthermore, novel methods for terrain characterization and a keyframe based visual-inertial odometry algorithm are combined to generate a spatial map of terrain characteristics. Localization via odometry also allows for autonomous missions on variable terrain by incorporating global navigation and terrain adaptation into one control architecture. Autonomous runs on a testbed with variable terrain types illustrate that adaptive stride and impedance behavior decreases the cost of transport by 30 % compared to a non-adaptive approach and simultaneously increases body stability (up to 88 % on even terrain and by 54 % on uneven terrain). Weaver is able to freely explore outdoor environments as it is completely free of external tethers, as shown in the experiments.\",\"keywords\":\"legged locomotion, terrain perception, control adaptation\",\"url_pdf\":\"files/2017_icra_bjelonic.pdf\",\"url_video\":\"https://youtu.be/a9l0bHHm-yY\",\"url_link\":\"https://ieeexplore.ieee.org/document/7989655\",\"bibtex\":\"@inproceedings{bjelonic2017autonomous,\\n  author    = {Bjelonic, Marko and\\n              Homberger, Timon and\\n              Kottege, Navinda and\\n              Borges, Paulo and\\n              Chli, Margarita and\\n              Beckerle, Philipp},\\n  title     = {Autonomous Navigation of Hexapod Robots with Vision-based\\n               Controller Adaptation},\\n  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},\\n  year      = {2017},\\n  pages     = {5561--5568},\\n  doi       = {10.1109/ICRA.2017.7989655},\\n  abstract  = {This work introduces a novel hybrid control architecture for a\\n               hexapod platform (Weaver), making it capable of autonomously\\n               navigating in uneven terrain. The main contribution stems from\\n               the use of vision-based exteroceptive terrain perception to adapt\\n               the robot's locomotion parameters. Avoiding computationally\\n               expensive path planning for the individual foot tips, the\\n               adaptation controller enables the robot to reactively adapt to\\n               the surface structure it is moving on. The virtual stiffness,\\n               which mainly characterizes the behavior of the legs' impedance\\n               controller is adapted according to visually perceived terrain\\n               properties. To further improve locomotion, the frequency and\\n               height of the robot's stride are similarly adapted. Furthermore,\\n               novel methods for terrain characterization and a keyframe based\\n               visual-inertial odometry algorithm are combined to generate a\\n               spatial map of terrain characteristics. Localization via odometry\\n               also allows for autonomous missions on variable terrain by\\n               incorporating global navigation and terrain adaptation into one\\n               control architecture. Autonomous runs on a testbed with variable\\n               terrain types illustrate that adaptive stride and impedance\\n               behavior decreases the cost of transport by 30 {\\\\%} compared to a\\n               non-adaptive approach and simultaneously increases body stability\\n               (up to 88 {\\\\%} on even terrain and by 54 {\\\\%} on uneven terrain).\\n               Weaver is able to freely explore outdoor environments as it is\\n               completely free of external tethers, as shown in the\\n               experiments.},\\n  keywords  = {legged locomotion, terrain perception, control adaptation},\\n  url_pdf   = {files/2017_icra_bjelonic.pdf},\\n  url_video = {https://youtu.be/a9l0bHHm-yY},\\n  url_link  = {https://ieeexplore.ieee.org/document/7989655},\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Homberger, T.\",\"Kottege, N.\",\"Borges, P.\",\"Chli, M.\",\"Beckerle, P.\"],\"key\":\"bjelonic2017autonomous\",\"id\":\"bjelonic2017autonomous\",\"bibbaseid\":\"bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2017_icra_bjelonic.pdf\",\" video\":\"https://youtu.be/a9l0bHHm-yY\",\" link\":\"https://ieeexplore.ieee.org/document/7989655\"},\"keyword\":[\"legged locomotion\",\"terrain perception\",\"control adaptation\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gehring\"],\"firstnames\":[\"Christian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lauber\"],\"firstnames\":[\"Andreas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gunther\"],\"firstnames\":[\"F\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tsounis\"],\"firstnames\":[\"Vassilios\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fankhauser\"],\"firstnames\":[\"Péter\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Diethelm\"],\"firstnames\":[\"Remo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bachmann\"],\"firstnames\":[\"Samuel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Blösch\"],\"firstnames\":[\"Michael\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kolvenbach\"],\"firstnames\":[\"Hendrik\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"others\"],\"suffixes\":[]}],\"title\":\"ANYmal-toward Legged Robots for Harsh Environments\",\"journal\":\"Advanced Robotics\",\"year\":\"2017\",\"pages\":\"918–931\",\"doi\":\"10.1080/01691864.2017.1378591\",\"abstract\":\"This paper provides a system overview about ANYmal, a quadrupedal robot developed for operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular way for simple maintenance and user-friendly handling, while focusing on high mobility and dynamic motion capability. The system is tightly sealed to reach IP67 standard and protected to survive falls. Rotating lidar sensors in the front and back are used for localization and terrain mapping and compact force sensors in the feet provide accurate measurements about the contact situations. The variable payload, such as a modular pan-tilt head with a variety of inspection sensors, can be exchanged depending on the application. Thanks to novel, compliant joint modules with integrated electronics, ANYmal is precisely torque controllable and very robust against impulsive loads during running or jumping. In a series of experiments we demonstrate that ANYmal can execute various climbing maneuvers, walking gaits, as well as a dynamic trot and jump. As special feature, the joints can be fully rotated to switch between X- and O-type kinematic configurations. Detailed measurements unveil a low energy consumption of 280 W during locomotion, which results in an autonomy of more than 2 h.\",\"keywords\":\"legged robot, quadruped robot, field robotics, series elastic actuation, autonomous navigation\",\"url_pdf\":\"files/2017_advanced_robotics_hutter.pdf\",\"url_link\":\"https://doi.org/10.1080/01691864.2017.1378591\",\"bibtex\":\"@article{hutter2017anymal,\\n  author    = {Hutter, Marco and\\n               Gehring, Christian and\\n               Lauber, Andreas and\\n               Gunther, F and\\n               Bellicoso, Carmine D 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/2017_advanced_robotics_hutter.pdf},\\n  url_link  = {https://doi.org/10.1080/01691864.2017.1378591},\\n}\\n\\n\",\"author_short\":[\"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.\",\"others\"],\"key\":\"hutter2017anymal\",\"id\":\"hutter2017anymal\",\"bibbaseid\":\"hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2017_advanced_robotics_hutter.pdf\",\" link\":\"https://doi.org/10.1080/01691864.2017.1378591\"},\"keyword\":[\"legged robot\",\"quadruped robot\",\"field robotics\",\"series elastic actuation\",\"autonomous navigation\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\",\"bellicoso, c\":\"https://dbellicoso.github.io/publications/\"}},\"downloads\":6,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Diethelm\"],\"firstnames\":[\"Remo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bachmann\"],\"firstnames\":[\"Samuel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fankhauser\"],\"firstnames\":[\"Peter\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gehring\"],\"firstnames\":[\"Christian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tsounis\"],\"firstnames\":[\"Vassilios\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lauber\"],\"firstnames\":[\"Andreas\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Guenther\"],\"firstnames\":[\"Fabian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Isler\"],\"firstnames\":[\"Linus\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"others\"],\"suffixes\":[]}],\"title\":\"Towards a generic Solution for Inspection of Industrial Sites\",\"booktitle\":\"Field and Service Robotics\",\"year\":\"2018\",\"pages\":\"575–589\",\"doi\":\"10.3929/ethz-b-000183150\",\"abstract\":\"Autonomous robotic inspection of industrial sites offers a huge potential with respect to increasing human safety and operational efficiency. The present paper provides an insight into the approach taken by team LIO during the ARGOS Challenge. In this international competition, the legged robot ANYmal was equipped with a sensor head to perform visual, acoustic, and thermal inspection on an oil and gas site. The robot was able to autonomously navigate on the outdoor industrial facilty using rotating line-LIDAR sensors for localization and terrain mapping. Thanks to the superior mobility of legged robots, ANYmal can omni-directionally move with statically and dynamically stable gaits while overcoming large obstacles and stairs. Moreover, the versatile machine can adapt its posture for inspection. The paper additionally provides insight into the methods applied for visual inspection of pressure gauges and concludes with some insight into the general learnings from the ARGOS Challenge.\",\"keywords\":\"legged robot, quadruped robot, field robotics, series elastic actuation, autonomous navigation\",\"url_video\":\"https://youtu.be/2RQDp0Q2vSo\",\"url_link\":\"https://doi.org/10.3929/ethz-b-000183150\",\"bibtex\":\"@inproceedings{hutter2018towards,\\n  author    = {Hutter, Marco and\\n               Diethelm, Remo and\\n               Bachmann, Samuel and\\n               Fankhauser, Peter and\\n               Gehring, Christian and\\n               Tsounis, Vassilios and\\n               Lauber, Andreas and\\n               Guenther, Fabian and\\n               Bjelonic, Marko and\\n               Isler, Linus and\\n               others},\\n  title     = {Towards a generic Solution for Inspection of Industrial Sites},\\n  booktitle = {Field and Service Robotics},\\n  year      = {2018},\\n  pages     = {575--589},\\n  doi       = {10.3929/ethz-b-000183150},\\n  abstract  = {Autonomous robotic inspection of industrial sites offers a huge\\n               potential with respect to increasing human safety and operational\\n               efficiency. The present paper provides an insight into the\\n               approach taken by team LIO during the ARGOS Challenge. In this\\n               international competition, the legged robot ANYmal was equipped\\n               with a sensor head to perform visual, acoustic, and thermal\\n               inspection on an oil and gas site. The robot was able to\\n               autonomously navigate on the outdoor industrial facilty using\\n               rotating line-LIDAR sensors for localization and terrain mapping.\\n               Thanks to the superior mobility of legged robots, ANYmal can\\n               omni-directionally move with statically and dynamically stable\\n               gaits while overcoming large obstacles and stairs. Moreover, the\\n               versatile machine can adapt its posture for inspection. The paper\\n               additionally provides insight into the methods applied for visual\\n               inspection of pressure gauges and concludes with some insight\\n               into the general learnings from the ARGOS Challenge.},\\n  keywords  = {legged robot, quadruped robot, field robotics,\\n               series elastic actuation, autonomous navigation},\\n  url_video = {https://youtu.be/2RQDp0Q2vSo},\\n  url_link  = {https://doi.org/10.3929/ethz-b-000183150},\\n}\\n\\n\",\"author_short\":[\"Hutter, M.\",\"Diethelm, R.\",\"Bachmann, S.\",\"Fankhauser, P.\",\"Gehring, C.\",\"Tsounis, V.\",\"Lauber, A.\",\"Guenther, F.\",\"Bjelonic, M.\",\"Isler, L.\",\"others\"],\"key\":\"hutter2018towards\",\"id\":\"hutter2018towards\",\"bibbaseid\":\"hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018\",\"role\":\"author\",\"urls\":{\" video\":\"https://youtu.be/2RQDp0Q2vSo\",\" link\":\"https://doi.org/10.3929/ethz-b-000183150\"},\"keyword\":[\"legged robot\",\"quadruped robot\",\"field robotics\",\"series elastic actuation\",\"autonomous navigation\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Fankhauser\"],\"firstnames\":[\"Péter\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Miki\"],\"firstnames\":[\"Takahiro\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Robust Rough-Terrain Locomotion with a Quadrupedal Robot\",\"booktitle\":\"IEEE International Conference on Robotics and Automation (ICRA)\",\"year\":\"2018\",\"doi\":\"10.1109/ICRA.2018.8460731\",\"abstract\":\"Robots working in natural, urban, and industrial settings need to be able to navigate challenging environments. In this paper, we present a motion planner for the perceptive rough-terrain locomotion with quadrupedal robots. The planner finds safe footholds along with collision-free swing-leg motions by leveraging an acquired terrain map. To this end, we present a novel pose optimization approach that enables the robot to climb over significant obstacles. We experimentally validate our approach with the quadrupedal robot ANYmal by autonomously traversing obstacles such steps, inclines, and stairs. The locomotion planner re-plans the motion at every step to cope with disturbances and dynamic environments. The robot has no prior knowledge of the scene, and all mapping, state estimation, control, and planning is performed in real-time onboard the robot.\",\"keywords\":\"legged locomotion, robot sensing systems, planning, collision avoidance\",\"url_video\":\"https://youtu.be/CpzQu25iLa0\",\"url_link\":\"https://ieeexplore.ieee.org/document/8460731\",\"bibtex\":\"@inproceedings{fankhauser2018robust,\\n  author    = {Fankhauser, P{\\\\'e}ter and\\n               Bjelonic, Marko and\\n               Bellicoso, Carmine D 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\",\"author_short\":[\"Fankhauser, P.\",\"Bjelonic, M.\",\"Bellicoso, C. D\",\"Miki, T.\",\"Hutter, M.\"],\"key\":\"fankhauser2018robust\",\"id\":\"fankhauser2018robust\",\"bibbaseid\":\"fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018\",\"role\":\"author\",\"urls\":{\" video\":\"https://youtu.be/CpzQu25iLa0\",\" link\":\"https://ieeexplore.ieee.org/document/8460731\"},\"keyword\":[\"legged locomotion\",\"robot sensing systems\",\"planning\",\"collision avoidance\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\",\"bellicoso, c\":\"https://dbellicoso.github.io/publications/\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Homberger\"],\"firstnames\":[\"Timon\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Borges\"],\"firstnames\":[\"Paulo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Beckerle\"],\"firstnames\":[\"Philipp\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Chli\"],\"firstnames\":[\"Margarita\"],\"suffixes\":[]}],\"title\":\"Weaver: Hexapod Robot for Autonomous Navigation on Unstructured Terrain\",\"journal\":\"Journal of Field Robotics\",\"year\":\"2018\",\"pages\":\"1063–1079\",\"doi\":\"10.1002/rob.21795\",\"abstract\":\"Legged robots are an efficient alternative for navigation in challenging terrain. In this paper we describe Weaver, a six‐legged robot that is designed to perform autonomous navigation in unstructured terrain. It uses stereo vision and proprioceptive sensing based terrain perception for adaptive control while using visual‐inertial odometry for autonomous waypoint‐based navigation. Terrain perception generates a minimal representation of the traversed environment in terms of roughness and step height. This reduces the complexity of the terrain model significantly, enabling the robot to feed back information about the environment into its controller. Furthermore, we combine exteroceptive and proprioceptive sensing to enhance the terrain perception capabilities, especially in situations in which the stereo camera is not able to generate an accurate representation of the environment. The adaptation approach described also exploits the unique properties of legged robots by adapting the virtual stiffness, stride frequency, and stride height. Weaver's unique leg design with five joints per leg improves locomotion on high gradient slopes, and this novel configuration is further analyzed. Using these approaches, we present an experimental evaluation of this fully self‐contained hexapod performing autonomous navigation on a multiterrain testbed and in outdoor terrain.\",\"keywords\":\"legged robot, hexapedal robot, rough terrain, terain perception, control adaptation\",\"url_pdf\":\"files/2018_jfr_bjelonic.pdf\",\"url_video\":\"https://youtu.be/eLMUiX96En0\",\"url_link\":\"https://doi.org/10.1002/rob.21795\",\"bibtex\":\"@article{bjelonic2018weaver,\\n  author    = {Bjelonic, Marko and\\n               Kottege, Navinda and\\n               Homberger, Timon and\\n               Borges, Paulo and\\n               Beckerle, Philipp and\\n               Chli, Margarita},\\n  title     = {Weaver: Hexapod Robot for Autonomous Navigation on Unstructured\\n               Terrain},\\n  journal   = {Journal of Field Robotics},\\n  year      = {2018},\\n  pages     = {1063--1079},\\n  doi       = {10.1002/rob.21795},\\n  abstract  = {Legged robots are an efficient alternative for navigation in\\n               challenging terrain. In this paper we describe Weaver, a\\n               six‐legged robot that is designed to perform autonomous\\n               navigation in unstructured terrain. It uses stereo vision and\\n               proprioceptive sensing based terrain perception for adaptive\\n               control while using visual‐inertial odometry for autonomous\\n               waypoint‐based navigation. Terrain perception generates a minimal\\n               representation of the traversed environment in terms of roughness\\n               and step height. This reduces the complexity of the terrain\\n               model significantly, enabling the robot to feed back information\\n               about the environment into its controller. Furthermore, we\\n               combine exteroceptive and proprioceptive sensing to enhance the\\n               terrain perception capabilities, especially in situations in\\n               which the stereo camera is not able to generate an accurate\\n               representation of the environment. The adaptation approach\\n               described also exploits the unique properties of legged robots\\n               by adapting the virtual stiffness, stride frequency, and stride\\n               height. Weaver's unique leg design with five joints per leg\\n               improves locomotion on high gradient slopes, and this novel\\n               configuration is further analyzed. Using these approaches, we\\n               present an experimental evaluation of this fully self‐contained\\n               hexapod performing autonomous navigation on a multiterrain\\n               testbed and in outdoor terrain.},\\n  keywords  = {legged robot, hexapedal robot, rough terrain, terain perception,\\n               control adaptation},\\n  url_pdf   = {files/2018_jfr_bjelonic.pdf},\\n  url_video = {https://youtu.be/eLMUiX96En0},\\n  url_link  = {https://doi.org/10.1002/rob.21795},\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Kottege, N.\",\"Homberger, T.\",\"Borges, P.\",\"Beckerle, P.\",\"Chli, M.\"],\"key\":\"bjelonic2018weaver\",\"id\":\"bjelonic2018weaver\",\"bibbaseid\":\"bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2018_jfr_bjelonic.pdf\",\" video\":\"https://youtu.be/eLMUiX96En0\",\" link\":\"https://doi.org/10.1002/rob.21795\"},\"keyword\":[\"legged robot\",\"hexapedal robot\",\"rough terrain\",\"terain perception\",\"control adaptation\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":3,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tiryaki\"],\"firstnames\":[\"M\",\"Efe\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Skating with a Force Controlled Quadrupedal Robot\",\"booktitle\":\"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"year\":\"2018\",\"pages\":\"7555–7561\",\"doi\":\"10.1109/IROS.2018.8594504\",\"abstract\":\"Traditional legged robots are capable of traversing challenging terrain, but lack of energy efficiency when compared to wheeled systems operating on flat environments. The combination of both locomotion domains overcomes the trade-off between mobility and efficiency. Therefore, this paper presents a novel motion planner and controller which together enable a legged robot equipped with skates to perform skating maneuvers. These are achieved by an appropriate combination of planned reaction forces and gliding motions. Our novel motion controller formulates a Virtual Model Controller and an optimal contact force distribution which takes into account the nonholonomic constraints introduced by the skates. This approach has been tested on the torque-controllable robot ANYmal equipped with passive wheels and ice skates as end-effectors. We conducted experiments on flat and inclined terrain, whereby we show that skating motions reduces the cost of transport by up to 80\\\\,% with respect to traditional walking gaits.\",\"keywords\":\"legged locomotion, quadrupedal robot, skating, motion control, force control\",\"url_pdf\":\"files/2018_iros_bjelonic.pdf\",\"url_video\":\"https://youtu.be/fJfAWiylpxw\",\"url_link\":\"https://ieeexplore.ieee.org/document/8594504\",\"bibtex\":\"@inproceedings{bjelonic2018skating,\\n  author    = {Bjelonic, Marko and\\n               Bellicoso, Carmine D 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/2018_iros_bjelonic.pdf},\\n  url_video = {https://youtu.be/fJfAWiylpxw},\\n  url_link  = {https://ieeexplore.ieee.org/document/8594504}\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Bellicoso, C. D\",\"Tiryaki, M E.\",\"Hutter, M.\"],\"key\":\"bjelonic2018skating\",\"id\":\"bjelonic2018skating\",\"bibbaseid\":\"bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2018_iros_bjelonic.pdf\",\" video\":\"https://youtu.be/fJfAWiylpxw\",\" link\":\"https://ieeexplore.ieee.org/document/8594504\"},\"keyword\":[\"legged locomotion\",\"quadrupedal robot\",\"skating\",\"motion control\",\"force control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\",\"bellicoso, c\":\"https://dbellicoso.github.io/publications/\"}},\"downloads\":6,\"html\":\"\"},{\"bibtype\":\"inproceedings\",\"type\":\"inproceedings\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Stolz\"],\"firstnames\":[\"Boris\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Brödermann\"],\"firstnames\":[\"Tim\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Castiello\"],\"firstnames\":[\"Enea\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Engelberger\"],\"firstnames\":[\"Gokula\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Erne\"],\"firstnames\":[\"Daniel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Gasser\"],\"firstnames\":[\"Jan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hayoz\"],\"firstnames\":[\"Eric\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Müller\"],\"firstnames\":[\"Stephan\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Mühlebach\"],\"firstnames\":[\"Lorin\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Löw\"],\"firstnames\":[\"Tobias\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Scheuer\"],\"firstnames\":[\"Dominique\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Vendeventer\"],\"firstnames\":[\"Luca\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"firstnames\":[],\"propositions\":[],\"lastnames\":[\"others\"],\"suffixes\":[]}],\"title\":\"An Adaptive Landing Gear for Extending the Operational Range of Helicopters\",\"booktitle\":\"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"year\":\"2018\",\"pages\":\"1757-1763\",\"doi\":\"10.1109/IROS.2018.8594062\",\"abstract\":\"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 substantial hazard. An adaptive landing gear is proposed to overcome these limitations. It consists of four legs with one degree of freedom each. The total weight was minimized to demonstrate economic practicability. This was achieved by an innovative actuation, composed of a parallel arrangement of motor and brake, which relieves the motor from large impact loads during hard landings. The loads are alleviated by a spring-damper system acting in series to the actuation. Each leg is individually force controlled for optimal load distribution on compliant ground and to avoid tipping. The operation of the legs is fully autonomous during the landing phase. A prototype was designed and successfully tested on an unmanned helicopter with a maximum take-off weight of 78 kg. Finally, the implementation of the landing gear concept on aircraft of various scales was discussed.\",\"keywords\":\"legged locomotion, quadrupedal robot, skating, motion control, force control\",\"url_pdf\":\"files/2018_iros_stolz.pdf\",\"url_video\":\"https://youtu.be/JtoOWS18D3k\",\"url_link\":\"https://ieeexplore.ieee.org/document/8594062\",\"bibtex\":\"@inproceedings{stolz2018adaptive,\\n  author    = {Stolz, Boris and\\n               Br{\\\\\\\"o}dermann, Tim and\\n               Castiello, Enea and\\n               Engelberger, Gokula and\\n               Erne, Daniel and\\n               Gasser, Jan and\\n               Hayoz, Eric and\\n               M{\\\\\\\"u}ller, Stephan and\\n               M{\\\\\\\"u}hlebach, Lorin and\\n               L{\\\\\\\"o}w, Tobias and\\n               Scheuer, Dominique and\\n               Vendeventer, Luca and\\n               Bjelonic, Marko and\\n               others},\\n  title     = {An Adaptive Landing Gear for Extending the Operational Range of\\n               Helicopters},\\n  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and\\n               Systems (IROS)},\\n  year      = {2018},\\n  pages     = {1757-1763},\\n  doi       = {10.1109/IROS.2018.8594062},\\n  abstract  = {Conventional skid or wheel based helicopter landing gears\\n               severely limit off-field landing possibilities, which are crucial\\n               when operating in scenarios such as mountain rescue. In this\\n               context, slopes beyond 8 ◦ and small obstacles can already pose a\\n               substantial hazard. An adaptive landing gear is proposed to\\n               overcome these limitations. It consists of four legs with one\\n               degree of freedom each. The total weight was minimized to\\n               demonstrate economic practicability. This was achieved by an\\n               innovative actuation, composed of a parallel arrangement of motor\\n               and brake, which relieves the motor from large impact loads\\n               during hard landings. The loads are alleviated by a spring-damper\\n               system acting in series to the actuation. Each leg is\\n               individually force controlled for optimal load distribution on\\n               compliant ground and to avoid tipping. The operation of the legs\\n               is fully autonomous during the landing phase. A prototype was\\n               designed and successfully tested on an unmanned helicopter with a\\n               maximum take-off weight of 78 kg. Finally, the implementation of\\n               the landing gear concept on aircraft of various scales was\\n               discussed.},\\n  keywords  = {legged locomotion, quadrupedal robot, skating, motion control,\\n               force control},\\n  url_pdf   = {files/2018_iros_stolz.pdf},\\n  url_video = {https://youtu.be/JtoOWS18D3k},\\n  url_link  = {https://ieeexplore.ieee.org/document/8594062}\\n}\\n\\n\",\"author_short\":[\"Stolz, B.\",\"Brödermann, T.\",\"Castiello, E.\",\"Engelberger, G.\",\"Erne, D.\",\"Gasser, J.\",\"Hayoz, E.\",\"Müller, S.\",\"Mühlebach, L.\",\"Löw, T.\",\"Scheuer, D.\",\"Vendeventer, L.\",\"Bjelonic, M.\",\"others\"],\"key\":\"stolz2018adaptive\",\"id\":\"stolz2018adaptive\",\"bibbaseid\":\"stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2018_iros_stolz.pdf\",\" video\":\"https://youtu.be/JtoOWS18D3k\",\" link\":\"https://ieeexplore.ieee.org/document/8594062\"},\"keyword\":[\"legged locomotion\",\"quadrupedal robot\",\"skating\",\"motion control\",\"force control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"misc\",\"type\":\"misc\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]}],\"title\":\"YOLO ROS: Real-Time Object Detection for ROS\",\"howpublished\":\"https://github.com/leggedrobotics/darknet_ros\",\"year\":\"2016\",\"url_link\":\"https://github.com/leggedrobotics/darknet_ros\",\"bibtex\":\"@misc{bjelonicYolo2018,\\n  author = {Bjelonic, Marko},\\n  title = {{YOLO ROS}: Real-Time Object Detection for {ROS}},\\n  howpublished = {{https://github.com/leggedrobotics/darknet_ros}},\\n  year = {2016},\\n  url_link = {https://github.com/leggedrobotics/darknet_ros},\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\"],\"key\":\"bjelonicYolo2018\",\"id\":\"bjelonicYolo2018\",\"bibbaseid\":\"bjelonic-yolorosrealtimeobjectdetectionforros-2016\",\"role\":\"author\",\"urls\":{\" link\":\"https://github.com/leggedrobotics/darknet_ros\"},\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wellhausen\"],\"firstnames\":[\"Lorenz\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sako\"],\"firstnames\":[\"Dhionis\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Holtmann\"],\"firstnames\":[\"Kai\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Guenther\"],\"firstnames\":[\"Fabian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tranzatto\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fankhauser\"],\"firstnames\":[\"Péter\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Advances in Real-World Applications for Legged Robots\",\"journal\":\"Journal of Field Robotics\",\"volume\":\"35\",\"number\":\"8\",\"pages\":\"1311-1326\",\"doi\":\"10.1002/rob.21839\",\"year\":\"2018\",\"abstract\":\"This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor missions of industrial inspection (ARGOS Challenge) and search and rescue (European Robotics League (ERL) Emergency Robots). In both competitions, the legged robot had to autonomously and semi-autonomously navigate in real-world scenarios to complete high-level tasks such as inspection and payload delivery. In the ARGOS competition, ANYmal used a rotating LiDAR sensor to localize on the industrial site and map the terrain and obstacles around the robot. In the ERL competition, additional Real-Time Kinematic (RTK)-Global Positioning System (GPS) was used to co-localize the legged robot with respect to a Micro Aerial Vehicle (MAV) that creates maps from the aerial view. The high mobility of legged robots allows overcoming large obstacles, e.g. steps and stairs, with statically and dynamically stable gaits. Moreover, the versatile machine can adapt its posture for inspection and payload delivery. The paper concludes with insight into the general learnings from the ARGOS and ERL challenges.\",\"keywords\":\"legged robot, quadrupedal robot, localization, mapping, challenge\",\"url_pdf\":\"files/2018_jfr_bellicoso.pdf\",\"url_video\":\"https://youtu.be/qrJlMze_xhQ\",\"url_link\":\"https://doi.org/10.1002/rob.21839\",\"bibtex\":\"@article{bellicoso2018advances,\\n  author    = {Bellicoso, Carmine D 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/2018_jfr_bellicoso.pdf},\\n  url_video = {https://youtu.be/qrJlMze_xhQ},\\n  url_link  = {https://doi.org/10.1002/rob.21839}\\n}\\n\\n\",\"author_short\":[\"Bellicoso, C. D\",\"Bjelonic, M.\",\"Wellhausen, L.\",\"Sako, D.\",\"Holtmann, K.\",\"Guenther, F.\",\"Tranzatto, M.\",\"Fankhauser, P.\",\"Hutter, M.\"],\"key\":\"bellicoso2018advances\",\"id\":\"bellicoso2018advances\",\"bibbaseid\":\"bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2018_jfr_bellicoso.pdf\",\" video\":\"https://youtu.be/qrJlMze_xhQ\",\" link\":\"https://doi.org/10.1002/rob.21839\"},\"keyword\":[\"legged robot\",\"quadrupedal robot\",\"localization\",\"mapping\",\"challenge\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\",\"bellicoso, c\":\"https://dbellicoso.github.io/publications/\"}},\"downloads\":3,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[\"de\"],\"lastnames\":[\"Viragh\"],\"firstnames\":[\"Yvain\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jenelten\"],\"firstnames\":[\"Fabian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints\",\"journal\":\"IEEE Robotics and Automation Letters\",\"volume\":\"4\",\"number\":\"2\",\"pages\":\"1633-1640\",\"year\":\"2019\",\"doi\":\"10.1109/LRA.2019.2896721\",\"abstract\":\"We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point (ZMP) balance criterion, we rely on quadratic programming only, thereby eliminating the need for nonlinear optimization routines. Yet, even for gaits containing full flight phases, we are able to generate trajectories for executing complex motions that involve simultaneous driving, walking, and turning. We verified our approach in simulations of the quadrupedal robot ANYmal equipped with wheels, where we are able to run the proposed trajectory optimizer at 50 Hz. To the best of our knowledge, this is the first time that such dynamic motions are demonstrated for wheeled-legged quadrupedal robots using an online motion planner.\",\"keywords\":\"legged robots, wheeled robots, motion and path planning, optimization and optimal control\",\"url_pdf\":\"files/2019_ral_de_viragh.pdf\",\"url_video\":\"https://youtu.be/I1aTCTc0J4U\",\"url_link\":\"https://ieeexplore.ieee.org/document/8630448\",\"bibtex\":\"@article{deviragh2019trajectory,\\n  author    = {de Viragh, Yvain and\\n               Bjelonic, Marko and\\n               Bellicoso, Carmine D 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/2019_ral_de_viragh.pdf},\\n  url_video = {https://youtu.be/I1aTCTc0J4U},\\n  url_link  = {https://ieeexplore.ieee.org/document/8630448}\\n}\\n\\n\",\"author_short\":[\"de Viragh, Y.\",\"Bjelonic, M.\",\"Bellicoso, C. D\",\"Jenelten, F.\",\"Hutter, M.\"],\"key\":\"deviragh2019trajectory\",\"id\":\"deviragh2019trajectory\",\"bibbaseid\":\"deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2019_ral_de_viragh.pdf\",\" video\":\"https://youtu.be/I1aTCTc0J4U\",\" link\":\"https://ieeexplore.ieee.org/document/8630448\"},\"keyword\":[\"legged robots\",\"wheeled robots\",\"motion and path planning\",\"optimization and optimal control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\",\"bellicoso, c\":\"https://dbellicoso.github.io/publications/\"}},\"downloads\":19,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Buchanan\"],\"firstnames\":[\"Russel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bandyopadhyay\"],\"firstnames\":[\"Tirthankar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wellhausen\"],\"firstnames\":[\"Lorenz\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]}],\"title\":\"Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces\",\"journal\":\"IEEE Robotics and Automation Letters\",\"volume\":\"4\",\"number\":\"2\",\"pages\":\"2148-2155\",\"doi\":\"10.1109/LRA.2019.2899664\",\"year\":\"2019\",\"abstract\":\"Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This paper presents a deformable bounding box abstraction of the robot model, with accompanying mapping and planning strategies, that enable a legged robot to autonomously change its body shape to navigate confined spaces. The mapping is achieved using robot-centric multi-elevation maps generated with distance sensors carried by the robot. The path planning is based on the trajectory optimisation algorithm CHOMP which creates smooth trajectories while avoiding obstacles. The proposed method has been tested in simulation and implemented on the hexapod robot Weaver, which is 33 cm tall and 82 cm wide when walking normally. We demonstrate navigating under 25 cm overhanging obstacles, through 70 cm wide gaps and over 22 cm high obstacles in both artificial testing spaces and realistic environments, including a subterranean mining tunnel.\",\"keywords\":\"legged robots, motion control\",\"url_pdf\":\"files/2019_ral_buchanan.pdf\",\"url_link\":\"https://ieeexplore.ieee.org/document/8642939\",\"bibtex\":\"@article{buchanan2019walking,\\n  author    = {Buchanan, Russel and\\n               Bandyopadhyay, Tirthankar and\\n               Bjelonic, Marko and\\n               Wellhausen, Lorenz and\\n               Hutter, Marco and\\n               Kottege, Navinda},\\n  title     = {Walking Posture Adaptation for Legged Robot Navigation in\\n               Confined Spaces},\\n  journal   = {IEEE Robotics and Automation Letters},\\n  volume    = {4},\\n  number    = {2},\\n  pages     = {2148-2155},\\n  doi       = {10.1109/LRA.2019.2899664},\\n  year      = {2019},\\n  abstract  = {Legged robots have the ability to adapt their walking posture to\\n               navigate confined spaces due to their high degrees of freedom.\\n               However, this has not been exploited in most common multilegged\\n               platforms. This paper presents a deformable bounding box\\n               abstraction of the robot model, with accompanying mapping and\\n               planning strategies, that enable a legged robot to autonomously\\n               change its body shape to navigate confined spaces. The mapping\\n               is achieved using robot-centric multi-elevation maps generated\\n               with distance sensors carried by the robot. The path planning is\\n               based on the trajectory optimisation algorithm CHOMP which\\n               creates smooth trajectories while avoiding obstacles. The\\n               proposed method has been tested in simulation and implemented on\\n               the hexapod robot Weaver, which is 33 cm tall and 82 cm wide\\n               when walking normally. We demonstrate navigating under 25 cm\\n               overhanging obstacles, through 70 cm wide gaps and over 22 cm\\n               high obstacles in both artificial testing spaces and realistic\\n               environments, including a subterranean mining tunnel.},\\n  keywords  = {legged robots, motion control},\\n  url_pdf   = {files/2019_ral_buchanan.pdf},\\n  url_link  = {https://ieeexplore.ieee.org/document/8642939}\\n}\\n\\n\",\"author_short\":[\"Buchanan, R.\",\"Bandyopadhyay, T.\",\"Bjelonic, M.\",\"Wellhausen, L.\",\"Hutter, M.\",\"Kottege, N.\"],\"key\":\"buchanan2019walking\",\"id\":\"buchanan2019walking\",\"bibbaseid\":\"buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2019_ral_buchanan.pdf\",\" link\":\"https://ieeexplore.ieee.org/document/8642939\"},\"keyword\":[\"legged robots\",\"motion control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":6,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[\"de\"],\"lastnames\":[\"Viragh\"],\"firstnames\":[\"Yvain\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sako\"],\"firstnames\":[\"Dhionis\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tresoldi\"],\"firstnames\":[\"F\",\"Dante\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jenelten\"],\"firstnames\":[\"Fabian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Keep Rollin'- Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots\",\"journal\":\"IEEE Robotics and Automation Letters\",\"volume\":\"4\",\"number\":\"2\",\"pages\":\"2116-2123\",\"doi\":\"10.1109/LRA.2019.2899750\",\"year\":\"2019\",\"abstract\":\"We show dynamic locomotion strategies for wheeled quadrupedal robots, which 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 relies on a zero-moment point based motion optimization which continuously updates reference trajectories. The reference motions are tracked by a hierarchical whole-body controller which computes optimal generalized accelerations and contact forces by solving a sequence of prioritized tasks including the nonholonomic rolling constraints. Our approach has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled including the non-steerable wheels attached to its legs. We conducted experiments on flat and inclined terrains as well as over steps, whereby we show that integrating the wheels into the motion control and planning framework results in intuitive motion trajectories, which enable more robust and dynamic locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4 m/s and a reduction of the cost of transport by 83 % we prove the superiority of wheeled-legged robots compared to their legged counterparts.\",\"keywords\":\"legged robots, wheeled robots, motion control, motion and path planning, optimization and optimal control\",\"url_pdf\":\"files/2019_ral_bjelonic.pdf\",\"url_video\":\"https://youtu.be/nGLUsyx9Vvc\",\"url_link\":\"https://ieeexplore.ieee.org/document/8642912\",\"bibtex\":\"@article{bjelonic2019keep,\\n  author    = {Bjelonic, Marko and\\n               Bellicoso, Carmine D 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  volume    = {4},\\n  number    = {2},\\n  pages     = {2116-2123},\\n  doi       = {10.1109/LRA.2019.2899750},\\n  year      = {2019},\\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   = {files/2019_ral_bjelonic.pdf},\\n  url_video = {https://youtu.be/nGLUsyx9Vvc},\\n  url_link  = {https://ieeexplore.ieee.org/document/8642912},\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Bellicoso, C. D\",\"de Viragh, Y.\",\"Sako, D.\",\"Tresoldi, F D.\",\"Jenelten, F.\",\"Hutter, M.\"],\"key\":\"bjelonic2019keep\",\"id\":\"bjelonic2019keep\",\"bibbaseid\":\"bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2019_ral_bjelonic.pdf\",\" video\":\"https://youtu.be/nGLUsyx9Vvc\",\" link\":\"https://ieeexplore.ieee.org/document/8642912\"},\"keyword\":[\"legged robots\",\"wheeled robots\",\"motion control\",\"motion and path planning\",\"optimization and optimal control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\",\"bellicoso, c\":\"https://dbellicoso.github.io/publications/\"}},\"downloads\":27,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kramer\"],\"firstnames\":[\"Koen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Stäuble\"],\"firstnames\":[\"Markus\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sako\"],\"firstnames\":[\"Dhionis\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jenelten\"],\"firstnames\":[\"Fabian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"ALMA-Articulated Locomotion and Manipulation for a Torque-Controllable Robot\",\"journal\":\"IEEE International Conference on Robotics and Automation (ICRA)\",\"year\":\"2019\",\"abstract\":\"The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a motion planning and control framework for a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enables the system to walk, trot and pace while executing operational space end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm's workspace. The torque control of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human.\",\"keywords\":\"legged robots, mobile manipulation, optimization and optimal control\",\"url_pdf\":\"files/2019_icra_bellicoso.pdf\",\"url_video\":\"https://youtu.be/XrcLXX4AEWE\",\"bibtex\":\"@article{bellicoso2019alma,\\n  author    = {Bellicoso, Carmine D and\\n               Kramer, 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  journal   = {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/2019_icra_bellicoso.pdf},\\n  url_video = {https://youtu.be/XrcLXX4AEWE},\\n}\\n\\n\",\"author_short\":[\"Bellicoso, C. D\",\"Kramer, K.\",\"Stäuble, M.\",\"Sako, D.\",\"Jenelten, F.\",\"Bjelonic, M.\",\"Hutter, M.\"],\"key\":\"bellicoso2019alma\",\"id\":\"bellicoso2019alma\",\"bibbaseid\":\"bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2019_icra_bellicoso.pdf\",\" video\":\"https://youtu.be/XrcLXX4AEWE\"},\"keyword\":[\"legged robots\",\"mobile manipulation\",\"optimization and optimal control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":4,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Medeiros\"],\"firstnames\":[\"S.\",\"Vivian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jelavic\"],\"firstnames\":[\"Edo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Siegwart\"],\"firstnames\":[\"Roland\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Meggiolaro\"],\"firstnames\":[\"A.\",\"Marco\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain\",\"journal\":\"International Symposium on Adaptive Motion of Animals and Machines (AMAM)\",\"year\":\"2019\",\"abstract\":\"We present a trajectory optimizer for driving motions for wheeled-legged quadrupedal robots with actuated wheels. A simplified two-dimensional Single Rigid Body model is used, which allows for fast solutions even for trajectories with a long time horizon. Since the planner has knowledge of the terrain and performs the optimization over the wheels’ contact forces as well as its positions, the robot is able to tra- verse challenging terrain, including driving up a step, which to the best of our knowledge was never shown before.\",\"keywords\":\"legged robots, wheeled robots, trajectory optimization\",\"url_pdf\":\"files/2019_amam_medeiros.pdf\",\"url_video\":\"https://youtu.be/lELr4stekhQ\",\"bibtex\":\"@article{medeiros2019trajectory,\\n  author    = {Medeiros, S. Vivian and\\n               Bjelonic, Marko and\\n               Jelavic, Edo and\\n               Siegwart, Roland and\\n               Meggiolaro, A. Marco and\\n               Hutter, Marco},\\n  title     = {Trajectory Optimization for Wheeled Quadrupedal Robots Driving\\n               in Challenging Terrain},\\n  journal   = {International Symposium on Adaptive Motion of Animals and Machines (AMAM)},\\n  year      = {2019},\\n  abstract  = {We present a trajectory optimizer for driving motions for\\n               wheeled-legged quadrupedal robots with actuated wheels.\\n               A simplified two-dimensional Single Rigid Body model is\\n               used, which allows for fast solutions even for trajectories\\n               with a long time horizon. Since the planner has knowledge\\n               of the terrain and performs the optimization over the wheels’\\n               contact forces as well as its positions, the robot is able to tra-\\n               verse challenging terrain, including driving up a step, which\\n               to the best of our knowledge was never shown before.},\\n  keywords  = {legged robots, wheeled robots, trajectory optimization},\\n  url_pdf   = {files/2019_amam_medeiros.pdf},\\n  url_video = {https://youtu.be/lELr4stekhQ},\\n}\\n\\n\",\"author_short\":[\"Medeiros, S. V.\",\"Bjelonic, M.\",\"Jelavic, E.\",\"Siegwart, R.\",\"Meggiolaro, A. M.\",\"Hutter, M.\"],\"key\":\"medeiros2019trajectory\",\"id\":\"medeiros2019trajectory\",\"bibbaseid\":\"medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2019_amam_medeiros.pdf\",\" video\":\"https://youtu.be/lELr4stekhQ\"},\"keyword\":[\"legged robots\",\"wheeled robots\",\"trajectory optimization\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":8,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Sankar\"],\"firstnames\":[\"Prajish\",\"K.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bellicoso\"],\"firstnames\":[\"Carmine\",\"D\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Vallery\"],\"firstnames\":[\"Heike\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization\",\"journal\":\"IEEE Robotics and Automation Letters\",\"volume\":\"5\",\"number\":\"2\",\"pages\":\"3626-3633\",\"doi\":\"10.1109/LRA.2020.2979661\",\"year\":\"2020\",\"abstract\":\"Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging terrain. In this paper, we present an online trajectory optimization framework for wheeled quadrupedal robots capable of executing hybrid walking-driving locomotion strategies. By breaking down the optimization problem into a wheel and base trajectory planning, locomotion planning for high dimensional wheeled-legged robots becomes more tractable, can be solved in real-time on-board in a model predictive control fashion, and becomes robust against unpredicted disturbances. The reference motions are tracked by a hierarchical whole-body controller that sends torque commands to the robot. Our approach is verified on a quadrupedal robot that is fully torque-controlled, including the non-steerable wheels attached to its legs. The robot performs hybrid locomotion with different gait sequences on flat and rough terrain. In addition, we validated the robotic platform at the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, where the robot rapidly maps, navigates, and explores dynamic underground environments.\",\"keywords\":\"legged robots, wheeled robots, motion and path planning, optimization and optimal control\",\"url_pdf\":\"files/2020_ral_bjelonic.pdf\",\"url_video\":\"https://youtu.be/ukY0vyM-yfY\",\"url_link\":\"https://youtu.be/tf_twcbF4P4\",\"bibtex\":\"@article{bjelonic2020rolling,\\n  author    = {Bjelonic, Marko and\\n               Sankar, Prajish K. and\\n               Bellicoso, Carmine D and\\n               Vallery, Heike and\\n               Hutter, Marco},\\n  title     = {Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged\\n               Robots using Online Trajectory Optimization},\\n  journal   = {IEEE Robotics and Automation Letters},\\n  volume    = {5},\\n  number    = {2},\\n  pages     = {3626-3633},\\n  doi       = {10.1109/LRA.2020.2979661},\\n  year      = {2020},\\n  abstract  = {Wheeled-legged robots have the potential for highly agile and\\n               versatile locomotion. The combination of legs and wheels might\\n               be a solution for any real-world application requiring rapid,\\n               and long-distance mobility skills on challenging terrain. In\\n               this paper, we present an online trajectory optimization\\n               framework for wheeled quadrupedal robots capable of executing\\n               hybrid walking-driving locomotion strategies. By breaking down\\n               the optimization problem into a wheel and base trajectory\\n               planning, locomotion planning for high dimensional\\n               wheeled-legged robots becomes more tractable, can be solved in\\n               real-time on-board in a model predictive control fashion, and\\n               becomes robust against unpredicted disturbances. The reference\\n               motions are tracked by a hierarchical whole-body controller that\\n               sends torque commands to the robot. Our approach is verified on\\n               a quadrupedal robot that is fully torque-controlled, including\\n               the non-steerable wheels attached to its legs. The robot\\n               performs hybrid locomotion with different gait sequences on flat\\n               and rough terrain. In addition, we validated the robotic\\n               platform at the Defense Advanced Research Projects Agency\\n               (DARPA) Subterranean Challenge, where the robot rapidly maps,\\n               navigates, and explores dynamic underground environments.},\\n  keywords  = {legged robots, wheeled robots,\\n               motion and path planning, optimization and optimal control},\\n  url_pdf   = {files/2020_ral_bjelonic.pdf},\\n  url_video = {https://youtu.be/ukY0vyM-yfY},\\n  url_link  = {https://ieeexplore.ieee.org/document/9028228},\\n  url_link  = {https://youtu.be/tf_twcbF4P4},\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Sankar, P. K.\",\"Bellicoso, C. D\",\"Vallery, H.\",\"Hutter, M.\"],\"key\":\"bjelonic2020rolling\",\"id\":\"bjelonic2020rolling\",\"bibbaseid\":\"bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2020_ral_bjelonic.pdf\",\" video\":\"https://youtu.be/ukY0vyM-yfY\",\" link\":\"https://youtu.be/tf_twcbF4P4\"},\"keyword\":[\"legged robots\",\"wheeled robots\",\"motion and path planning\",\"optimization and optimal control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":36,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Medeiros\"],\"firstnames\":[\"S.\",\"Vivian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Jelavic\"],\"firstnames\":[\"Edo\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Siegwart\"],\"firstnames\":[\"Roland\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Meggiolaro\"],\"firstnames\":[\"A.\",\"Marco\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain\",\"journal\":\"IEEE Robotics and Automation Letters\",\"year\":\"2020\",\"abstract\":\"Wheeled-legged robots are an attractive solution for versatile locomotion in challenging terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse challenging terrain. In this paper, we present a trajectory optimization formulation for wheeled-legged robots that optimizes over the base and wheels' positions and forces and takes into account the terrain information while computing the plans. This enables us to find optimal driving motions over challenging terrain. The robot is modeled as a single rigid-body, which allows us to plan complex motions and still keep a low computational complexity to solve the optimization quickly. The terrain map, together with the use of a stability constraint, allows the optimizer to generate feasible motions that cannot be discovered without taking the terrain information into account. The optimization is formulated as a Nonlinear Programming (NLP) problem and the reference motions are tracked by a hierarchical whole-body controller that computes the torque actuation commands for the robot. The trajectories have been experimentally verified on quadrupedal robot ANYmal equipped with non-steerable torque-controlled wheels. Our trajectory optimization framework enables wheeled quadrupedal robots to drive over challenging terrain, e.g., steps, slopes, stairs, while negotiating these obstacles with dynamic motions.\",\"keywords\":\"legged robots, wheeled robots, motion planning, optimization and optimal control\",\"url_pdf\":\"files/2020_ral_medeiros.pdf\",\"url_video\":\"https://youtu.be/DlJGFhGS3HM\",\"url_link\":\"https://ieeexplore.ieee.org/document/9079567\",\"bibtex\":\"@article{medeiros2020trajectory,\\n  author    = {Medeiros, S. Vivian and\\n               Jelavic, Edo and\\n               Bjelonic, Marko and\\n               Siegwart, Roland and\\n               Meggiolaro, A. Marco and\\n               Hutter, Marco},\\n  title     = {Trajectory Optimization for Wheeled-Legged Quadrupedal Robots\\n               Driving in Challenging Terrain},\\n  journal   = {IEEE Robotics and Automation Letters},\\n  year      = {2020},\\n  abstract  = {Wheeled-legged robots are an attractive solution for versatile\\n               locomotion in challenging terrain. They combine the speed and\\n               efficiency of wheels with the ability of legs to traverse\\n               challenging terrain. In this paper, we present a trajectory\\n               optimization formulation for wheeled-legged robots that\\n               optimizes over the base and wheels' positions and forces and\\n               takes into account the terrain information while computing the\\n               plans. This enables us to find optimal driving motions over\\n               challenging terrain. The robot is modeled as a single\\n               rigid-body, which allows us to plan complex motions and still\\n               keep a low computational complexity to solve the optimization\\n               quickly. The terrain map, together with the use of a stability\\n               constraint, allows the optimizer to generate feasible motions\\n               that cannot be discovered without taking the terrain information\\n               into account. The optimization is formulated as a Nonlinear\\n               Programming (NLP) problem and the reference motions are tracked\\n               by a hierarchical whole-body controller that computes the torque\\n               actuation commands for the robot. The trajectories have been\\n               experimentally verified on quadrupedal robot ANYmal equipped\\n               with non-steerable torque-controlled wheels. Our trajectory\\n               optimization framework enables wheeled quadrupedal robots to\\n               drive over challenging terrain, e.g., steps, slopes, stairs,\\n               while negotiating these obstacles with dynamic motions.},\\n  keywords  = {legged robots, wheeled robots, motion planning,\\n               optimization and optimal control},\\n  url_pdf   = {files/2020_ral_medeiros.pdf},\\n  url_video = {https://youtu.be/DlJGFhGS3HM},\\n  url_link  = {https://ieeexplore.ieee.org/document/9079567},\\n}\\n\\n\",\"author_short\":[\"Medeiros, S. V.\",\"Jelavic, E.\",\"Bjelonic, M.\",\"Siegwart, R.\",\"Meggiolaro, A. M.\",\"Hutter, M.\"],\"key\":\"medeiros2020trajectory\",\"id\":\"medeiros2020trajectory\",\"bibbaseid\":\"medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2020_ral_medeiros.pdf\",\" video\":\"https://youtu.be/DlJGFhGS3HM\",\" link\":\"https://ieeexplore.ieee.org/document/9079567\"},\"keyword\":[\"legged robots\",\"wheeled robots\",\"motion planning\",\"optimization and optimal control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":18,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Buchanan\"],\"firstnames\":[\"Russel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Wellhausen\"],\"firstnames\":[\"Lorenz\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bandyopadhyay\"],\"firstnames\":[\"Tirthankar\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Kottege\"],\"firstnames\":[\"Navinda\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Perceptive Whole Body Planning for Multi-legged Robots in Confined Spaces\",\"journal\":\"Journal of Field Robotics\",\"doi\":\"10.1002/rob.21974\",\"year\":\"2020\",\"abstract\":\"Legged robots are exceedingly versatile and have the potential to navigate complex, confined spaces due to their many degrees of freedom. As a result of the computational complexity , there exist no online planners for perceptive whole body locomotion of robots in tight spaces. In this paper, we present a new method for perceptive planning for multi-legged robots, which generates body poses, footholds, and swing trajectories for collision avoidance. Measurements from an onboard depth camera are used to create a 3D map of the terrain around the robot. We randomly sample body poses then smooth the resulting trajectory while satisfying several constraints such as robot kinematics and collision avoidance. Footholds and swing trajectories are computed based on the terrain, and the robot body pose is optimized to ensure stable locomotion while not colliding with the environment. Our method is designed to run online on a real robot and generate trajectories several meters long. We first tested our algorithm in several simulations with varied confined spaces using the quadrupedal robot ANYmal. We also simulated experiments with the hexapod robot Weaver to demonstrate applicability to different legged robot configurations. Then, we demonstrated our whole body planner in several online experiments both indoors and in realistic scenarios at an emergency rescue training facility. ANYmal, which has a nominal standing height of 80 cm and width of 59 cm, navigated through several representative disaster areas with openings as small as 60 cm. 3 m trajectories were re-planned with 500 ms update times.\",\"url_pdf\":\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\",\"url_video\":\"https://youtu.be/C2e0JTdwid0\",\"url_link\":\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\",\"bibtex\":\"@article{buchanan2020perceptive,\\n  author    = {Buchanan, Russel and\\n               Wellhausen, Lorenz and\\n               Bjelonic, Marko and\\n               Bandyopadhyay, Tirthankar and\\n               Kottege, Navinda and\\n               Hutter, Marco},\\n  title     = {Perceptive Whole Body Planning for\\n               Multi-legged Robots in Confined Spaces},\\n  journal   = {Journal of Field Robotics},\\n  doi       = {10.1002/rob.21974},\\n  year      = {2020},\\n  abstract  = {Legged robots are exceedingly versatile and have the potential to navigate complex, confined spaces due\\n               to their many degrees of freedom. As a result of the computational complexity , there exist no online\\n               planners for perceptive whole body locomotion of robots in tight spaces. In this paper, we present a\\n               new method for perceptive planning for multi-legged robots, which generates body poses, footholds, and\\n               swing trajectories for collision avoidance. Measurements from an onboard depth camera are used to create\\n               a 3D map of the terrain around the robot. We randomly sample body poses then smooth the resulting\\n               trajectory while satisfying several constraints such as robot kinematics and collision avoidance.\\n               Footholds and swing trajectories are computed based on the terrain, and the robot body pose is optimized\\n               to ensure stable locomotion while not colliding with the environment. Our method is designed to run\\n               online on a real robot and generate trajectories several meters long. We first tested our algorithm in\\n               several simulations with varied confined spaces using the quadrupedal robot ANYmal. We also simulated\\n               experiments with the hexapod robot Weaver to demonstrate applicability to different legged robot\\n               configurations. Then, we demonstrated our whole body planner in several online experiments both indoors\\n               and in realistic scenarios at an emergency rescue training facility. ANYmal, which has a nominal\\n               standing height of 80 cm and width of 59 cm, navigated through several representative disaster areas\\n               with openings as small as 60 cm. 3 m trajectories were re-planned with 500 ms update times.},\\n  url_pdf   = {https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces},\\n  url_video = {https://youtu.be/C2e0JTdwid0},\\n  url_link  = {https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces}\\n}\\n\\n\",\"author_short\":[\"Buchanan, R.\",\"Wellhausen, L.\",\"Bjelonic, M.\",\"Bandyopadhyay, T.\",\"Kottege, N.\",\"Hutter, M.\"],\"key\":\"buchanan2020perceptive\",\"id\":\"buchanan2020perceptive\",\"bibbaseid\":\"buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\",\" video\":\"https://youtu.be/C2e0JTdwid0\",\" link\":\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\"},\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":9,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Jenelten\"],\"firstnames\":[\"Fabian\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Miki\"],\"firstnames\":[\"Takahiro\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Vijayan\"],\"firstnames\":[\"Aravind\",\"E.\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Perceptive Locomotion in Rough Terrain – Online Foothold Optimization\",\"journal\":\"IEEE Robotics and Automation Letters\",\"volume\":\"5\",\"number\":\"4\",\"pages\":\"5370-5376\",\"doi\":\"10.1109/LRA.2020.3007427\",\"year\":\"2020\",\"abstract\":\"Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We present a hierarchical locomotion planner together with a foothold optimizer that finds locally optimal footholds within an elevation map. The map is generated in real-time from on-board depth sensors. We further propose a terrain-aware contact schedule to deal with actuator velocity limits. We validate the combined locomotion pipeline on our quadrupedal robot ANYmal with a variety of simulated and real-world experiments. We show that our method can cope with stairs and obstacles of heights up to 33% of the robot's leg length.\",\"url_pdf\":\"https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&isAllowed=y\",\"url_video\":\"https://youtu.be/ViecsBmjusI\",\"url_link\":\"https://ieeexplore.ieee.org/document/9134750\",\"bibtex\":\"@article{jenelten2020perceptive,\\n  author    = {Jenelten, Fabian and\\n               Miki, Takahiro and\\n               Vijayan, Aravind E. and\\n               Bjelonic, Marko and\\n               Hutter, Marco},\\n  title     = {Perceptive Locomotion in Rough Terrain – Online Foothold\\n               Optimization},\\n  journal   = {IEEE Robotics and Automation Letters},\\n  volume    = {5},\\n  number    = {4},\\n  pages     = {5370-5376},\\n  doi       = {10.1109/LRA.2020.3007427},\\n  year      = {2020},\\n  abstract  = {Compared to wheeled vehicles, legged systems have a vast\\n               potential to traverse challenging terrain. To exploit the full\\n               potential, it is crucial to tightly integrate terrain\\n               perception for foothold planning. We present a hierarchical\\n               locomotion planner together with a foothold optimizer that\\n               finds locally optimal footholds within an elevation map. The\\n               map is generated in real-time from on-board depth sensors. We\\n               further propose a terrain-aware contact schedule to deal with\\n               actuator velocity limits. We validate the combined locomotion\\n               pipeline on our quadrupedal robot ANYmal with a variety of\\n               simulated and real-world experiments. We show that our method\\n               can cope with stairs and obstacles of heights up to 33% of the\\n               robot's leg length.},\\n  url_pdf   = {https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&isAllowed=y},\\n  url_video = {https://youtu.be/ViecsBmjusI},\\n  url_link  = {https://ieeexplore.ieee.org/document/9134750}\\n}\\n\\n\",\"author_short\":[\"Jenelten, F.\",\"Miki, T.\",\"Vijayan, A. E.\",\"Bjelonic, M.\",\"Hutter, M.\"],\"key\":\"jenelten2020perceptive\",\"id\":\"jenelten2020perceptive\",\"bibbaseid\":\"jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&isAllowed=y\",\" video\":\"https://youtu.be/ViecsBmjusI\",\" link\":\"https://ieeexplore.ieee.org/document/9134750\"},\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":5,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Grandia\"],\"firstnames\":[\"Ruben\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Harley\"],\"firstnames\":[\"Oliver\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Galliard\"],\"firstnames\":[\"Cla\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Zimmermann\"],\"firstnames\":[\"Samuel\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots\",\"journal\":\"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"year\":\"2021\",\"abstract\":\"Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a wheeled quadrupedal robot. It defines the single rigid body dynamics along with the robot's kinematics while treating the wheels as moving ground contacts. With this approach, we can accurately capture the robot's rolling constraint and dynamics, enabling automatic discovery of hybrid maneuvers without needless motion heuristics. The formulation's generality through the simultaneous optimization over the robot's whole-body variables allows for a single set of parameters and makes online gait sequence adaptation possible. Aperiodic gait sequences are automatically found through kinematic leg utilities without the need for predefined contact and lift-off timings, reducing the cost of transport by up to 85%. Our experiments demonstrate dynamic motions on a quadrupedal robot with non-steerable wheels in challenging indoor and outdoor environments. The paper's findings contribute to evaluating a decomposed, i.e., sequential optimization of wheel and torso motion, and single-task motion planner with a novel quantity, the prediction error, which describes how well a receding horizon planner can predict the robot’s future state. To this end, we report an improvement of up to 71% using our proposed single-task approach, making fast locomotion feasible and revealing wheeled-legged robots' full potential.\",\"keywords\":\"legged robots, wheeled robots, motion and path planning, optimization and optimal control\",\"url_pdf\":\"files/2021_iros_bjelonic.pdf\",\"url_video\":\"https://youtu.be/_rPvKlvyw2w\",\"bibtex\":\"@article{bjelonic2021wholebody,\\n  author    = {Bjelonic, Marko and\\n               Grandia, Ruben and\\n               Harley, Oliver and\\n               Galliard, Cla and\\n               Zimmermann, Samuel and\\n               Hutter, Marco},\\n  title     = {Whole-Body MPC and Online Gait Sequence Generation for\\n               Wheeled-Legged Robots},\\n  journal   = {IEEE/RSJ International Conference on Intelligent Robots and\\n               Systems (IROS)},\\n  year      = {2021},\\n  abstract  = {Our paper proposes a model predictive controller as a single-task\\n               formulation that simultaneously optimizes wheel and torso motions.\\n               This online joint velocity and ground reaction force optimization\\n               integrates a kinodynamic model of a wheeled quadrupedal robot.\\n               It defines the single rigid body dynamics along with the robot's\\n               kinematics while treating the wheels as moving ground contacts.\\n               With this approach, we can accurately capture the robot's rolling\\n               constraint and dynamics, enabling automatic discovery of hybrid\\n               maneuvers without needless motion heuristics. The formulation's\\n               generality through the simultaneous optimization over the robot's\\n               whole-body variables allows for a single set of parameters and \\n               makes online gait sequence adaptation possible. Aperiodic gait\\n               sequences are automatically found through kinematic leg utilities\\n               without the need for predefined contact and lift-off timings,\\n               reducing the cost of transport by up to 85%. Our experiments\\n               demonstrate dynamic motions on a quadrupedal robot with non-steerable\\n               wheels in challenging indoor and outdoor environments. The paper's\\n               findings contribute to evaluating a decomposed, i.e., sequential\\n               optimization of wheel and torso motion, and single-task motion planner\\n               with a novel quantity, the prediction error, which describes how well a\\n               receding horizon planner can predict the robot’s future state. To this end,\\n               we report an improvement of up to 71% using our proposed\\n               single-task approach, making fast locomotion feasible\\n               and revealing wheeled-legged robots' full potential.},\\n  keywords  = {legged robots, wheeled robots,\\n               motion and path planning, optimization and optimal control},\\n  url_pdf   = {files/2021_iros_bjelonic.pdf},\\n  url_video = {https://youtu.be/_rPvKlvyw2w}\\n}\\n\\n\",\"author_short\":[\"Bjelonic, M.\",\"Grandia, R.\",\"Harley, O.\",\"Galliard, C.\",\"Zimmermann, S.\",\"Hutter, M.\"],\"key\":\"bjelonic2021wholebody\",\"id\":\"bjelonic2021wholebody\",\"bibbaseid\":\"bjelonic-grandia-harley-galliard-zimmermann-hutter-wholebodympcandonlinegaitsequencegenerationforwheeledleggedrobots-2021\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.markobjelonic.com//publications/files/2021_iros_bjelonic.pdf\",\" video\":\"https://youtu.be/_rPvKlvyw2w\"},\"keyword\":[\"legged robots\",\"wheeled robots\",\"motion and path planning\",\"optimization and optimal control\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":78,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Gaertner\"],\"firstnames\":[\"Magnus\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Bjelonic\"],\"firstnames\":[\"Marko\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Farshidian\"],\"firstnames\":[\"Farbod\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Hutter\"],\"firstnames\":[\"Marco\"],\"suffixes\":[]}],\"title\":\"Collision-Free MPC for Legged Robots in Static and Dynamic Scenes\",\"journal\":\"IEEE International Conference on Robotics and Automation (ICRA)\",\"year\":\"2021\",\"abstract\":\"We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function is added to the optimization's cost function, leading to collision avoidance behavior without increasing the problem's computational complexity. Our holistic approach does not require any heuristics and enables legged robots to find whole-body motions in the presence of static and dynamic obstacles. We use a dynamically generated euclidean signed distance field for static collision checking. Collision checking for dynamic obstacles is modeled with moving cylinders, increasing the responsiveness to fast-moving agents. Furthermore, we include a Kalman filter motion prediction for moving obstacles into our receding horizon planning, enabling the robot to anticipate possible future collisions. Our experiments demonstrate collision-free motions on a quadrupedal robot in challenging indoor environments. The robot handles complex scenes like overhanging obstacles and dynamic agents by exploring motions at the robot's dynamic and kinematic limits.\",\"keywords\":\"legged robots, MPC, collision-free planing, mapping\",\"url_pdf\":\"https://arxiv.org/pdf/2103.13987.pdf\",\"url_video\":\"https://youtu.be/_wkqCVz3gdg\",\"bibtex\":\"@article{gaertner2021collision,\\n  author    = {Gaertner, Magnus and\\n               Bjelonic, Marko and\\n               Farshidian, Farbod and\\n               Hutter, Marco},\\n  title     = {Collision-Free MPC for Legged Robots in Static and Dynamic Scenes},\\n  journal   = {IEEE International Conference on Robotics and Automation (ICRA)},\\n  year      = {2021},\\n  abstract  = {We present a model predictive controller (MPC) that automatically\\n               discovers collision-free locomotion while simultaneously taking into account\\n               the system dynamics, friction constraints, and kinematic limitations.\\n               A relaxed barrier function is added to the optimization's cost function,\\n               leading to collision avoidance behavior without increasing the problem's\\n               computational complexity. Our holistic approach does not require any\\n               heuristics and enables legged robots to find whole-body motions in the\\n               presence of static and dynamic obstacles. We use a dynamically generated\\n               euclidean signed distance field for static collision checking. Collision\\n               checking for dynamic obstacles is modeled with moving cylinders, increasing\\n               the responsiveness to fast-moving agents. Furthermore, we include a Kalman\\n               filter motion prediction for moving obstacles into our receding horizon\\n               planning, enabling the robot to anticipate possible future collisions. Our\\n               experiments demonstrate collision-free motions on a quadrupedal robot in\\n               challenging indoor environments. The robot handles complex scenes like\\n               overhanging obstacles and dynamic agents by exploring motions at the robot's\\n               dynamic and kinematic limits.},\\n  keywords  = {legged robots, MPC, collision-free planing, mapping},\\n  url_pdf   = {https://arxiv.org/pdf/2103.13987.pdf},\\n  url_video = {https://youtu.be/_wkqCVz3gdg},\\n}\\n\\n\",\"author_short\":[\"Gaertner, M.\",\"Bjelonic, M.\",\"Farshidian, F.\",\"Hutter, M.\"],\"key\":\"gaertner2021collision\",\"id\":\"gaertner2021collision\",\"bibbaseid\":\"gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://arxiv.org/pdf/2103.13987.pdf\",\" video\":\"https://youtu.be/_wkqCVz3gdg\"},\"keyword\":[\"legged robots\",\"MPC\",\"collision-free planing\",\"mapping\"],\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":24,\"html\":\"\"},{\"bibtype\":\"article\",\"type\":\"article\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Marco\",\"Tranzatto\"],\"firstnames\":[\"Frank\",\"Mascarich\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lukas\",\"Bernreiter\"],\"firstnames\":[\"Carolina\",\"Godinho\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Marco\",\"Camurri\"],\"firstnames\":[\"Shehryar\",\"Masaud\",\"Khan\",\"Khattak\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Tung\",\"Dang\"],\"firstnames\":[\"Victor\",\"Reijgwart\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Johannes\",\"Loeje\"],\"firstnames\":[\"David\",\"Wisth\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Samuel\",\"Zimmermann\"],\"firstnames\":[\"Huan\",\"Nguyen\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Marius\",\"Fehr\"],\"firstnames\":[\"Lukas\",\"Solanka\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Russell\",\"Buchanan\"],\"firstnames\":[\"Marko\",\"Bjelonic\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Nikhil\",\"Khedekar\"],\"firstnames\":[\"Mathieu\",\"Valceschini\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fabian\",\"Jenelten\"],\"firstnames\":[\"Mihir\",\"Dharmadhikari\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Timon\",\"Homberger\"],\"firstnames\":[\"Paolo\",\"De\",\"Petris\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Lorenz\",\"Wellhausen\"],\"firstnames\":[\"Mihir\",\"Kulkarni\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Takahiro\",\"Miki\"],\"firstnames\":[\"Satchel\",\"Hirsch\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Markus\",\"Montenegro\"],\"firstnames\":[\"Christos\",\"Papachristos\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Fabian\",\"Tresoldi\"],\"firstnames\":[\"Jan\",\"Carius\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Giorgio\",\"Valsecchi\"],\"firstnames\":[\"Joonho\",\"Lee\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Konrad\",\"Meyer\"],\"firstnames\":[\"Xiangyu\",\"Wu\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Juan\",\"Nieto\"],\"firstnames\":[\"Andy\",\"Smith\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Marco\",\"Hutter\"],\"firstnames\":[\"Roland\",\"Y\",\"Siegwart\"],\"suffixes\":[]},{\"propositions\":[],\"lastnames\":[\"Mark\",\"Mueller\"],\"firstnames\":[\"Maurice\",\"Fallon\"],\"suffixes\":[]}],\"title\":\"CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge\",\"journal\":\"Journal of Field Robotics\",\"year\":\"2021\",\"abstract\":\"Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication between the robots and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station, alongside breadcrumbing of wireless nodes by our legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits, along with the current limitations and the lessons learned for the benefit of the community.\",\"url_pdf\":\"https://www.research-collection.ethz.ch/handle/20.500.11850/489726\",\"bibtex\":\"@article{tranzatto2021cerberus,\\n  author    = {Marco Tranzatto, Frank Mascarich, Lukas Bernreiter,\\n               Carolina Godinho, Marco Camurri, Shehryar Masaud Khan Khattak,\\n               Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth,\\n               Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka,\\n               Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini,\\n               Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris,\\n               Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch,\\n               Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius,\\n               Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto,\\n               Andy Smith, Marco Hutter, Roland Y Siegwart, Mark Mueller,\\n               Maurice Fallon, Kostas Alexis},\\n  title     = {CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},\\n  journal   = {Journal of Field Robotics},\\n  year      = {2021},\\n  abstract  = {Autonomous exploration of subterranean environments constitutes a\\n               major frontier for robotic systems as underground settings present key\\n               challenges that can render robot autonomy hard to achieve. This has\\n               motivated the DARPA Subterranean Challenge, where teams of robots search\\n               for objects of interest in various underground environments. In response,\\n               the CERBERUS system-of-systems is presented as a unified strategy towards\\n               subterranean exploration using legged and flying robots.  As primary robots,\\n               ANYmal quadruped systems are deployed considering their endurance and potential\\n               to traverse challenging terrain. For aerial robots, both conventional and\\n               collision-tolerant multirotors are utilized to explore spaces too narrow or\\n               otherwise unreachable by ground systems. Anticipating degraded sensing\\n               conditions, a complementary multi-modal sensor fusion approach utilizing\\n               camera, LiDAR, and inertial data for resilient robot pose estimation is\\n               proposed. Individual robot pose estimates are refined by a centralized\\n               multi-robot map optimization approach to improve the reported location\\n               accuracy of detected objects of interest in the DARPA-defined coordinate\\n               frame. Furthermore, a unified exploration path planning policy is presented\\n               to facilitate the autonomous operation of both legged and aerial robots in\\n               complex underground networks. Finally, to enable communication between the\\n               robots and the base station, CERBERUS utilizes a ground rover with a high-gain\\n               antenna and an optical fiber connection to the base station, alongside breadcrumbing\\n               of wireless nodes by our legged robots. We report results from the CERBERUS\\n               system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits,\\n               along with the current limitations and the lessons learned for the benefit of the community.},\\n  url_pdf   = {https://www.research-collection.ethz.ch/handle/20.500.11850/489726},\\n}\\n\",\"author_short\":[\"Marco Tranzatto, F. M.\",\"Lukas Bernreiter, C. G.\",\"Marco Camurri, S. M. K. K.\",\"Tung Dang, V. R.\",\"Johannes Loeje, D. W.\",\"Samuel Zimmermann, H. N.\",\"Marius Fehr, L. S.\",\"Russell Buchanan, M. B.\",\"Nikhil Khedekar, M. V.\",\"Fabian Jenelten, M. D.\",\"Timon Homberger, P. D. P.\",\"Lorenz Wellhausen, M. K.\",\"Takahiro Miki, S. H.\",\"Markus Montenegro, C. P.\",\"Fabian Tresoldi, J. C.\",\"Giorgio Valsecchi, J. L.\",\"Konrad Meyer, X. W.\",\"Juan Nieto, A. S.\",\"Marco Hutter, R. Y S.\",\"Mark Mueller, M. F.\"],\"key\":\"tranzatto2021cerberus\",\"id\":\"tranzatto2021cerberus\",\"bibbaseid\":\"marcotranzatto-lukasbernreiter-marcocamurri-tungdang-johannesloeje-samuelzimmermann-mariusfehr-russellbuchanan-etal-cerberusautonomousleggedandaerialroboticexplorationinthetunnelandurbancircuitsofthedarpasubterraneanchallenge-2021\",\"role\":\"author\",\"urls\":{\" pdf\":\"https://www.research-collection.ethz.ch/handle/20.500.11850/489726\"},\"metadata\":{\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\"downloads\":5,\"html\":\"\"}],\n      metadata: {\"owner\":\"bjelonic, m\",\"authorlinks\":{\"bjelonic, m\":\"https://www.markobjelonic.com/publications/\"}},\n      ownerID: \"2bFC6YssfvNvQ5XTA\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"bibliography.bib\" href=\"data:text/bibtex;base64,@inproceedings{homberger2016terrain,
  author    = {Homberger, Timon and
               Bjelonic, Marko and
               Kottege, Navinda and
               Borges, Paulo VK},
  title     = {Terrain-dependant Control of Hexapod Robots using Vision},
  booktitle = {International Symposium on Experimental Robotics (ISER)},
  year      = {2016},
  pages     = {92--102},
  doi       = {10.1007/978-3-319-50115-4_9},
  abstract  = {The ability to traverse uneven terrain is one of the key
               advantages of legged robots. However, their effectiveness relies
               on selecting appropriate gait parameters, such as stride height
               and leg stiffness. The optimal parameters highly depend on the
               characteristics of the terrain. This work presents a novel stereo
               vision based terrain sensing method for a hexapod robot with 30
               degrees of freedom. The terrain in front of the robot is analyzed
               by extracting a set of features which enable the system to
               characterize a large number of terrain types. Gait parameters and
               leg stiffness for impedance control are adapted based on this
               terrain characterization. Experiments show that adaptive
               impedance control leads to efficient locomotion in terms of
               energy consumption, mission success and body stability.},
  keywords  = {legged locomotion, terrain perception},
  url_pdf   = {files/2016_iser_homberger.pdf},
  url_video = {https://youtu.be/Rx4ewkxAItI},
  url_link  = {https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9},
}



@inproceedings{bjelonic2016proprioceptive,
  author    = {Bjelonic, Marko and
               Kottege, Navinda and
               Beckerle, Philipp},
  title     = {Proprioceptive control of an over-actuated hexapod robot in
               unstructured terrain},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and
               Systems (IROS)},
  year      = {2016},
  pages     = {2042--2049},
  doi       = {10.1109/IROS.2016.7759321},
  abstract  = {Legged robots such as hexapods have the potential to traverse
              unstructured terrain. This paper introduces a novel hexapod robot
              (Weaver) using a hierarchical controller, with the ability to
              efficiently traverse uneven and inclined terrain. The robot has
              five joints per leg and 30 degrees of freedom overall. The two
              redundant joints improve the locomotion of the robot by
              controlling the body pose and the leg orientation with respect to
              the ground. The impedance controller in Cartesian space reacts to
              unstructured terrain and thus achieves self-stabilizing behavior
              without prior profiling of the terrain through exteroceptive
              sensing. Instead of adding force sensors, the force at the foot
              tip is calculated by processing the current signals of the
              actuators. This work experimentally evaluates Weaver with the
              proposed controller and demonstrates that it can effectively
              traverse challenging terrains and high gradient slopes, reduce
              angular movements of the body by more than 55{\%} and reduce the cost
              of transport (up to 50{\%} on uneven terrain and by 85% on a slope
              with 20 °). The controller also enables Weaver to walk up
              inclines of up to 30 °, and remain statically stable on inclines
              up to 50 °. Furthermore, we present a new metric for legged robot
              stability performance along with a method for proprioceptive
              terrain characterization.},
  keywords  = {legged locomotion, impedance control},
  url_pdf   = {files/2016_iros_bjelonic.pdf},
  url_video = {https://youtu.be/OxOMmovPpdI},
  url_link  = {https://ieeexplore.ieee.org/document/7759321},
}



@inproceedings{elfes2017multilegged,
  author    = {Elfes, Alberto and
               Steindl, Ryan and
               Talbot, Fletcher and
               Kendoul, Farid and
               Sikka, Pavan and
               Lowe, Tom and
               Kottege, Navinda and
               Bjelonic, Marko and
               Dungavell, Ross and
               Bandyopadhyay, Tirthankar and
               others},
  title     = {The Multilegged Autonomous eXplorer (MAX)},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2017},
  pages     = {1050--1057},
  doi       = {10.1109/ICRA.2017.7989126},
  abstract  = {To address the goal of locomotion in very complex and difficult
              terrains, the authors are developing a new class of Ultralight
              Legged Robots. This paper presents the Multilegged Autonomous
              eXplorer (MAX), an ultralight, six-legged robot for traversal and
              exploration of challenging indoor and outdoor environments. The
              design of MAX emphasizes a low mass/size ratio, high locomotion
              efficiency, and high payload capability compared to total system
              mass. MAX is 2.25 m tall at full height and has a mass of
              approximately 60 kg, which makes it 5 to 20 times lighter than
              robots of comparable size. MAX is a research vehicle to explore
              modelling and control of Ultralight Legged Robots subject to
              flexing, oscillations and swaying; algorithms for gait planning
              and motion planning under uncertainty; and navigation planning for
              traversal of complex 3D terrains. This paper presents the design
              of MAX, provides an overview of the control system developed,
              summarizes results from indoor and outdoor tests, discusses system
              performance and outlines the challenges to be addressed next.},
  keywords  = {legged locomotion, actuators},
  url_pdf   = {files/2017_icra_elfes.pdf},
  url_video = {https://youtu.be/nmELJzXl_Z8},
  url_link  = {https://ieeexplore.ieee.org/document/7989126},
}



@inproceedings{bjelonic2017autonomous,
  author    = {Bjelonic, Marko and
              Homberger, Timon and
              Kottege, Navinda and
              Borges, Paulo and
              Chli, Margarita and
              Beckerle, Philipp},
  title     = {Autonomous Navigation of Hexapod Robots with Vision-based
               Controller Adaptation},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2017},
  pages     = {5561--5568},
  doi       = {10.1109/ICRA.2017.7989655},
  abstract  = {This work introduces a novel hybrid control architecture for a
               hexapod platform (Weaver), making it capable of autonomously
               navigating in uneven terrain. The main contribution stems from
               the use of vision-based exteroceptive terrain perception to adapt
               the robot's locomotion parameters. Avoiding computationally
               expensive path planning for the individual foot tips, the
               adaptation controller enables the robot to reactively adapt to
               the surface structure it is moving on. The virtual stiffness,
               which mainly characterizes the behavior of the legs' impedance
               controller is adapted according to visually perceived terrain
               properties. To further improve locomotion, the frequency and
               height of the robot's stride are similarly adapted. Furthermore,
               novel methods for terrain characterization and a keyframe based
               visual-inertial odometry algorithm are combined to generate a
               spatial map of terrain characteristics. Localization via odometry
               also allows for autonomous missions on variable terrain by
               incorporating global navigation and terrain adaptation into one
               control architecture. Autonomous runs on a testbed with variable
               terrain types illustrate that adaptive stride and impedance
               behavior decreases the cost of transport by 30 {\%} compared to a
               non-adaptive approach and simultaneously increases body stability
               (up to 88 {\%} on even terrain and by 54 {\%} on uneven terrain).
               Weaver is able to freely explore outdoor environments as it is
               completely free of external tethers, as shown in the
               experiments.},
  keywords  = {legged locomotion, terrain perception, control adaptation},
  url_pdf   = {files/2017_icra_bjelonic.pdf},
  url_video = {https://youtu.be/a9l0bHHm-yY},
  url_link  = {https://ieeexplore.ieee.org/document/7989655},
}



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



@inproceedings{hutter2018towards,
  author    = {Hutter, Marco and
               Diethelm, Remo and
               Bachmann, Samuel and
               Fankhauser, Peter and
               Gehring, Christian and
               Tsounis, Vassilios and
               Lauber, Andreas and
               Guenther, Fabian and
               Bjelonic, Marko and
               Isler, Linus and
               others},
  title     = {Towards a generic Solution for Inspection of Industrial Sites},
  booktitle = {Field and Service Robotics},
  year      = {2018},
  pages     = {575--589},
  doi       = {10.3929/ethz-b-000183150},
  abstract  = {Autonomous robotic inspection of industrial sites offers a huge
               potential with respect to increasing human safety and operational
               efficiency. The present paper provides an insight into the
               approach taken by team LIO during the ARGOS Challenge. In this
               international competition, the legged robot ANYmal was equipped
               with a sensor head to perform visual, acoustic, and thermal
               inspection on an oil and gas site. The robot was able to
               autonomously navigate on the outdoor industrial facilty using
               rotating line-LIDAR sensors for localization and terrain mapping.
               Thanks to the superior mobility of legged robots, ANYmal can
               omni-directionally move with statically and dynamically stable
               gaits while overcoming large obstacles and stairs. Moreover, the
               versatile machine can adapt its posture for inspection. The paper
               additionally provides insight into the methods applied for visual
               inspection of pressure gauges and concludes with some insight
               into the general learnings from the ARGOS Challenge.},
  keywords  = {legged robot, quadruped robot, field robotics,
               series elastic actuation, autonomous navigation},
  url_video = {https://youtu.be/2RQDp0Q2vSo},
  url_link  = {https://doi.org/10.3929/ethz-b-000183150},
}



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



@article{bjelonic2018weaver,
  author    = {Bjelonic, Marko and
               Kottege, Navinda and
               Homberger, Timon and
               Borges, Paulo and
               Beckerle, Philipp and
               Chli, Margarita},
  title     = {Weaver: Hexapod Robot for Autonomous Navigation on Unstructured
               Terrain},
  journal   = {Journal of Field Robotics},
  year      = {2018},
  pages     = {1063--1079},
  doi       = {10.1002/rob.21795},
  abstract  = {Legged robots are an efficient alternative for navigation in
               challenging terrain. In this paper we describe Weaver, a
               six‐legged robot that is designed to perform autonomous
               navigation in unstructured terrain. It uses stereo vision and
               proprioceptive sensing based terrain perception for adaptive
               control while using visual‐inertial odometry for autonomous
               waypoint‐based navigation. Terrain perception generates a minimal
               representation of the traversed environment in terms of roughness
               and step height. This reduces the complexity of the terrain
               model significantly, enabling the robot to feed back information
               about the environment into its controller. Furthermore, we
               combine exteroceptive and proprioceptive sensing to enhance the
               terrain perception capabilities, especially in situations in
               which the stereo camera is not able to generate an accurate
               representation of the environment. The adaptation approach
               described also exploits the unique properties of legged robots
               by adapting the virtual stiffness, stride frequency, and stride
               height. Weaver's unique leg design with five joints per leg
               improves locomotion on high gradient slopes, and this novel
               configuration is further analyzed. Using these approaches, we
               present an experimental evaluation of this fully self‐contained
               hexapod performing autonomous navigation on a multiterrain
               testbed and in outdoor terrain.},
  keywords  = {legged robot, hexapedal robot, rough terrain, terain perception,
               control adaptation},
  url_pdf   = {files/2018_jfr_bjelonic.pdf},
  url_video = {https://youtu.be/eLMUiX96En0},
  url_link  = {https://doi.org/10.1002/rob.21795},
}



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



@inproceedings{stolz2018adaptive,
  author    = {Stolz, Boris and
               Br{\"o}dermann, Tim and
               Castiello, Enea and
               Engelberger, Gokula and
               Erne, Daniel and
               Gasser, Jan and
               Hayoz, Eric and
               M{\"u}ller, Stephan and
               M{\"u}hlebach, Lorin and
               L{\"o}w, Tobias and
               Scheuer, Dominique and
               Vendeventer, Luca and
               Bjelonic, Marko and
               others},
  title     = {An Adaptive Landing Gear for Extending the Operational Range of
               Helicopters},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and
               Systems (IROS)},
  year      = {2018},
  pages     = {1757-1763},
  doi       = {10.1109/IROS.2018.8594062},
  abstract  = {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
               substantial hazard. An adaptive landing gear is proposed to
               overcome these limitations. It consists of four legs with one
               degree of freedom each. The total weight was minimized to
               demonstrate economic practicability. This was achieved by an
               innovative actuation, composed of a parallel arrangement of motor
               and brake, which relieves the motor from large impact loads
               during hard landings. The loads are alleviated by a spring-damper
               system acting in series to the actuation. Each leg is
               individually force controlled for optimal load distribution on
               compliant ground and to avoid tipping. The operation of the legs
               is fully autonomous during the landing phase. A prototype was
               designed and successfully tested on an unmanned helicopter with a
               maximum take-off weight of 78 kg. Finally, the implementation of
               the landing gear concept on aircraft of various scales was
               discussed.},
  keywords  = {legged locomotion, quadrupedal robot, skating, motion control,
               force control},
  url_pdf   = {files/2018_iros_stolz.pdf},
  url_video = {https://youtu.be/JtoOWS18D3k},
  url_link  = {https://ieeexplore.ieee.org/document/8594062}
}



@misc{bjelonicYolo2018,
  author = {Bjelonic, Marko},
  title = {{YOLO ROS}: Real-Time Object Detection for {ROS}},
  howpublished = {{https://github.com/leggedrobotics/darknet_ros}},
  year = {2016},
  url_link = {https://github.com/leggedrobotics/darknet_ros},
}



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



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



@article{buchanan2019walking,
  author    = {Buchanan, Russel and
               Bandyopadhyay, Tirthankar and
               Bjelonic, Marko and
               Wellhausen, Lorenz and
               Hutter, Marco and
               Kottege, Navinda},
  title     = {Walking Posture Adaptation for Legged Robot Navigation in
               Confined Spaces},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {4},
  number    = {2},
  pages     = {2148-2155},
  doi       = {10.1109/LRA.2019.2899664},
  year      = {2019},
  abstract  = {Legged robots have the ability to adapt their walking posture to
               navigate confined spaces due to their high degrees of freedom.
               However, this has not been exploited in most common multilegged
               platforms. This paper presents a deformable bounding box
               abstraction of the robot model, with accompanying mapping and
               planning strategies, that enable a legged robot to autonomously
               change its body shape to navigate confined spaces. The mapping
               is achieved using robot-centric multi-elevation maps generated
               with distance sensors carried by the robot. The path planning is
               based on the trajectory optimisation algorithm CHOMP which
               creates smooth trajectories while avoiding obstacles. The
               proposed method has been tested in simulation and implemented on
               the hexapod robot Weaver, which is 33 cm tall and 82 cm wide
               when walking normally. We demonstrate navigating under 25 cm
               overhanging obstacles, through 70 cm wide gaps and over 22 cm
               high obstacles in both artificial testing spaces and realistic
               environments, including a subterranean mining tunnel.},
  keywords  = {legged robots, motion control},
  url_pdf   = {files/2019_ral_buchanan.pdf},
  url_link  = {https://ieeexplore.ieee.org/document/8642939}
}



@article{bjelonic2019keep,
  author    = {Bjelonic, Marko and
               Bellicoso, Carmine D and
               de Viragh, Yvain and
               Sako, Dhionis and
               Tresoldi, F Dante and
               Jenelten, Fabian and
               Hutter, Marco},
  title     = {Keep Rollin'- Whole-Body Motion Control and Planning for Wheeled
               Quadrupedal Robots},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {4},
  number    = {2},
  pages     = {2116-2123},
  doi       = {10.1109/LRA.2019.2899750},
  year      = {2019},
  abstract  = {We show dynamic locomotion strategies for wheeled quadrupedal
               robots, which 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 relies on a zero-moment point based motion optimization
               which continuously updates reference trajectories. The reference
               motions are tracked by a hierarchical whole-body controller
               which computes optimal generalized accelerations and contact
               forces by solving a sequence of prioritized tasks including the
               nonholonomic rolling constraints. Our approach has been tested
               on ANYmal, a quadrupedal robot that is fully torque-controlled
               including the non-steerable wheels attached to its legs. We
               conducted experiments on flat and inclined terrains as well as
               over steps, whereby we show that integrating the wheels into the
               motion control and planning framework results in intuitive
               motion trajectories, which enable more robust and dynamic
               locomotion compared to other wheeled-legged robots. Moreover,
               with a speed of 4 m/s and a reduction of the cost of transport
               by 83 % we prove the superiority of wheeled-legged robots
               compared to their legged counterparts.},
  keywords  = {legged robots, wheeled robots, motion control,
               motion and path planning, optimization and optimal control},
  url_pdf   = {files/2019_ral_bjelonic.pdf},
  url_video = {https://youtu.be/nGLUsyx9Vvc},
  url_link  = {https://ieeexplore.ieee.org/document/8642912},
}



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



@article{medeiros2019trajectory,
  author    = {Medeiros, S. Vivian and
               Bjelonic, Marko and
               Jelavic, Edo and
               Siegwart, Roland and
               Meggiolaro, A. Marco and
               Hutter, Marco},
  title     = {Trajectory Optimization for Wheeled Quadrupedal Robots Driving
               in Challenging Terrain},
  journal   = {International Symposium on Adaptive Motion of Animals and Machines (AMAM)},
  year      = {2019},
  abstract  = {We present a trajectory optimizer for driving motions for
               wheeled-legged quadrupedal robots with actuated wheels.
               A simplified two-dimensional Single Rigid Body model is
               used, which allows for fast solutions even for trajectories
               with a long time horizon. Since the planner has knowledge
               of the terrain and performs the optimization over the wheels’
               contact forces as well as its positions, the robot is able to tra-
               verse challenging terrain, including driving up a step, which
               to the best of our knowledge was never shown before.},
  keywords  = {legged robots, wheeled robots, trajectory optimization},
  url_pdf   = {files/2019_amam_medeiros.pdf},
  url_video = {https://youtu.be/lELr4stekhQ},
}



@article{bjelonic2020rolling,
  author    = {Bjelonic, Marko and
               Sankar, Prajish K. and
               Bellicoso, Carmine D and
               Vallery, Heike and
               Hutter, Marco},
  title     = {Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged
               Robots using Online Trajectory Optimization},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {5},
  number    = {2},
  pages     = {3626-3633},
  doi       = {10.1109/LRA.2020.2979661},
  year      = {2020},
  abstract  = {Wheeled-legged robots have the potential for highly agile and
               versatile locomotion. The combination of legs and wheels might
               be a solution for any real-world application requiring rapid,
               and long-distance mobility skills on challenging terrain. In
               this paper, we present an online trajectory optimization
               framework for wheeled quadrupedal robots capable of executing
               hybrid walking-driving locomotion strategies. By breaking down
               the optimization problem into a wheel and base trajectory
               planning, locomotion planning for high dimensional
               wheeled-legged robots becomes more tractable, can be solved in
               real-time on-board in a model predictive control fashion, and
               becomes robust against unpredicted disturbances. The reference
               motions are tracked by a hierarchical whole-body controller that
               sends torque commands to the robot. Our approach is verified on
               a quadrupedal robot that is fully torque-controlled, including
               the non-steerable wheels attached to its legs. The robot
               performs hybrid locomotion with different gait sequences on flat
               and rough terrain. In addition, we validated the robotic
               platform at the Defense Advanced Research Projects Agency
               (DARPA) Subterranean Challenge, where the robot rapidly maps,
               navigates, and explores dynamic underground environments.},
  keywords  = {legged robots, wheeled robots,
               motion and path planning, optimization and optimal control},
  url_pdf   = {files/2020_ral_bjelonic.pdf},
  url_video = {https://youtu.be/ukY0vyM-yfY},
  url_link  = {https://ieeexplore.ieee.org/document/9028228},
  url_link  = {https://youtu.be/tf_twcbF4P4},
}



@article{medeiros2020trajectory,
  author    = {Medeiros, S. Vivian and
               Jelavic, Edo and
               Bjelonic, Marko and
               Siegwart, Roland and
               Meggiolaro, A. Marco and
               Hutter, Marco},
  title     = {Trajectory Optimization for Wheeled-Legged Quadrupedal Robots
               Driving in Challenging Terrain},
  journal   = {IEEE Robotics and Automation Letters},
  year      = {2020},
  abstract  = {Wheeled-legged robots are an attractive solution for versatile
               locomotion in challenging terrain. They combine the speed and
               efficiency of wheels with the ability of legs to traverse
               challenging terrain. In this paper, we present a trajectory
               optimization formulation for wheeled-legged robots that
               optimizes over the base and wheels' positions and forces and
               takes into account the terrain information while computing the
               plans. This enables us to find optimal driving motions over
               challenging terrain. The robot is modeled as a single
               rigid-body, which allows us to plan complex motions and still
               keep a low computational complexity to solve the optimization
               quickly. The terrain map, together with the use of a stability
               constraint, allows the optimizer to generate feasible motions
               that cannot be discovered without taking the terrain information
               into account. The optimization is formulated as a Nonlinear
               Programming (NLP) problem and the reference motions are tracked
               by a hierarchical whole-body controller that computes the torque
               actuation commands for the robot. The trajectories have been
               experimentally verified on quadrupedal robot ANYmal equipped
               with non-steerable torque-controlled wheels. Our trajectory
               optimization framework enables wheeled quadrupedal robots to
               drive over challenging terrain, e.g., steps, slopes, stairs,
               while negotiating these obstacles with dynamic motions.},
  keywords  = {legged robots, wheeled robots, motion planning,
               optimization and optimal control},
  url_pdf   = {files/2020_ral_medeiros.pdf},
  url_video = {https://youtu.be/DlJGFhGS3HM},
  url_link  = {https://ieeexplore.ieee.org/document/9079567},
}



@article{buchanan2020perceptive,
  author    = {Buchanan, Russel and
               Wellhausen, Lorenz and
               Bjelonic, Marko and
               Bandyopadhyay, Tirthankar and
               Kottege, Navinda and
               Hutter, Marco},
  title     = {Perceptive Whole Body Planning for
               Multi-legged Robots in Confined Spaces},
  journal   = {Journal of Field Robotics},
  doi       = {10.1002/rob.21974},
  year      = {2020},
  abstract  = {Legged robots are exceedingly versatile and have the potential to navigate complex, confined spaces due
               to their many degrees of freedom. As a result of the computational complexity , there exist no online
               planners for perceptive whole body locomotion of robots in tight spaces. In this paper, we present a
               new method for perceptive planning for multi-legged robots, which generates body poses, footholds, and
               swing trajectories for collision avoidance. Measurements from an onboard depth camera are used to create
               a 3D map of the terrain around the robot. We randomly sample body poses then smooth the resulting
               trajectory while satisfying several constraints such as robot kinematics and collision avoidance.
               Footholds and swing trajectories are computed based on the terrain, and the robot body pose is optimized
               to ensure stable locomotion while not colliding with the environment. Our method is designed to run
               online on a real robot and generate trajectories several meters long. We first tested our algorithm in
               several simulations with varied confined spaces using the quadrupedal robot ANYmal. We also simulated
               experiments with the hexapod robot Weaver to demonstrate applicability to different legged robot
               configurations. Then, we demonstrated our whole body planner in several online experiments both indoors
               and in realistic scenarios at an emergency rescue training facility. ANYmal, which has a nominal
               standing height of 80 cm and width of 59 cm, navigated through several representative disaster areas
               with openings as small as 60 cm. 3 m trajectories were re-planned with 500 ms update times.},
  url_pdf   = {https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces},
  url_video = {https://youtu.be/C2e0JTdwid0},
  url_link  = {https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces}
}



@article{jenelten2020perceptive,
  author    = {Jenelten, Fabian and
               Miki, Takahiro and
               Vijayan, Aravind E. and
               Bjelonic, Marko and
               Hutter, Marco},
  title     = {Perceptive Locomotion in Rough Terrain – Online Foothold
               Optimization},
  journal   = {IEEE Robotics and Automation Letters},
  volume    = {5},
  number    = {4},
  pages     = {5370-5376},
  doi       = {10.1109/LRA.2020.3007427},
  year      = {2020},
  abstract  = {Compared to wheeled vehicles, legged systems have a vast
               potential to traverse challenging terrain. To exploit the full
               potential, it is crucial to tightly integrate terrain
               perception for foothold planning. We present a hierarchical
               locomotion planner together with a foothold optimizer that
               finds locally optimal footholds within an elevation map. The
               map is generated in real-time from on-board depth sensors. We
               further propose a terrain-aware contact schedule to deal with
               actuator velocity limits. We validate the combined locomotion
               pipeline on our quadrupedal robot ANYmal with a variety of
               simulated and real-world experiments. We show that our method
               can cope with stairs and obstacles of heights up to 33% of the
               robot's leg length.},
  url_pdf   = {https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&isAllowed=y},
  url_video = {https://youtu.be/ViecsBmjusI},
  url_link  = {https://ieeexplore.ieee.org/document/9134750}
}



@article{bjelonic2021wholebody,
  author    = {Bjelonic, Marko and
               Grandia, Ruben and
               Harley, Oliver and
               Galliard, Cla and
               Zimmermann, Samuel and
               Hutter, Marco},
  title     = {Whole-Body MPC and Online Gait Sequence Generation for
               Wheeled-Legged Robots},
  journal   = {IEEE/RSJ International Conference on Intelligent Robots and
               Systems (IROS)},
  year      = {2021},
  abstract  = {Our paper proposes a model predictive controller as a single-task
               formulation that simultaneously optimizes wheel and torso motions.
               This online joint velocity and ground reaction force optimization
               integrates a kinodynamic model of a wheeled quadrupedal robot.
               It defines the single rigid body dynamics along with the robot's
               kinematics while treating the wheels as moving ground contacts.
               With this approach, we can accurately capture the robot's rolling
               constraint and dynamics, enabling automatic discovery of hybrid
               maneuvers without needless motion heuristics. The formulation's
               generality through the simultaneous optimization over the robot's
               whole-body variables allows for a single set of parameters and 
               makes online gait sequence adaptation possible. Aperiodic gait
               sequences are automatically found through kinematic leg utilities
               without the need for predefined contact and lift-off timings,
               reducing the cost of transport by up to 85%. Our experiments
               demonstrate dynamic motions on a quadrupedal robot with non-steerable
               wheels in challenging indoor and outdoor environments. The paper's
               findings contribute to evaluating a decomposed, i.e., sequential
               optimization of wheel and torso motion, and single-task motion planner
               with a novel quantity, the prediction error, which describes how well a
               receding horizon planner can predict the robot’s future state. To this end,
               we report an improvement of up to 71% using our proposed
               single-task approach, making fast locomotion feasible
               and revealing wheeled-legged robots' full potential.},
  keywords  = {legged robots, wheeled robots,
               motion and path planning, optimization and optimal control},
  url_pdf   = {files/2021_iros_bjelonic.pdf},
  url_video = {https://youtu.be/_rPvKlvyw2w}
}



@article{gaertner2021collision,
  author    = {Gaertner, Magnus and
               Bjelonic, Marko and
               Farshidian, Farbod and
               Hutter, Marco},
  title     = {Collision-Free MPC for Legged Robots in Static and Dynamic Scenes},
  journal   = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2021},
  abstract  = {We present a model predictive controller (MPC) that automatically
               discovers collision-free locomotion while simultaneously taking into account
               the system dynamics, friction constraints, and kinematic limitations.
               A relaxed barrier function is added to the optimization's cost function,
               leading to collision avoidance behavior without increasing the problem's
               computational complexity. Our holistic approach does not require any
               heuristics and enables legged robots to find whole-body motions in the
               presence of static and dynamic obstacles. We use a dynamically generated
               euclidean signed distance field for static collision checking. Collision
               checking for dynamic obstacles is modeled with moving cylinders, increasing
               the responsiveness to fast-moving agents. Furthermore, we include a Kalman
               filter motion prediction for moving obstacles into our receding horizon
               planning, enabling the robot to anticipate possible future collisions. Our
               experiments demonstrate collision-free motions on a quadrupedal robot in
               challenging indoor environments. The robot handles complex scenes like
               overhanging obstacles and dynamic agents by exploring motions at the robot's
               dynamic and kinematic limits.},
  keywords  = {legged robots, MPC, collision-free planing, mapping},
  url_pdf   = {https://arxiv.org/pdf/2103.13987.pdf},
  url_video = {https://youtu.be/_wkqCVz3gdg},
}



@article{tranzatto2021cerberus,
  author    = {Marco Tranzatto, Frank Mascarich, Lukas Bernreiter,
               Carolina Godinho, Marco Camurri, Shehryar Masaud Khan Khattak,
               Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth,
               Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka,
               Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini,
               Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris,
               Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch,
               Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius,
               Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto,
               Andy Smith, Marco Hutter, Roland Y Siegwart, Mark Mueller,
               Maurice Fallon, Kostas Alexis},
  title     = {CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},
  journal   = {Journal of Field Robotics},
  year      = {2021},
  abstract  = {Autonomous exploration of subterranean environments constitutes a
               major frontier for robotic systems as underground settings present key
               challenges that can render robot autonomy hard to achieve. This has
               motivated the DARPA Subterranean Challenge, where teams of robots search
               for objects of interest in various underground environments. In response,
               the CERBERUS system-of-systems is presented as a unified strategy towards
               subterranean exploration using legged and flying robots.  As primary robots,
               ANYmal quadruped systems are deployed considering their endurance and potential
               to traverse challenging terrain. For aerial robots, both conventional and
               collision-tolerant multirotors are utilized to explore spaces too narrow or
               otherwise unreachable by ground systems. Anticipating degraded sensing
               conditions, a complementary multi-modal sensor fusion approach utilizing
               camera, LiDAR, and inertial data for resilient robot pose estimation is
               proposed. Individual robot pose estimates are refined by a centralized
               multi-robot map optimization approach to improve the reported location
               accuracy of detected objects of interest in the DARPA-defined coordinate
               frame. Furthermore, a unified exploration path planning policy is presented
               to facilitate the autonomous operation of both legged and aerial robots in
               complex underground networks. Finally, to enable communication between the
               robots and the base station, CERBERUS utilizes a ground rover with a high-gain
               antenna and an optical fiber connection to the base station, alongside breadcrumbing
               of wireless nodes by our legged robots. We report results from the CERBERUS
               system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits,
               along with the current limitations and the lessons learned for the benefit of the community.},
  url_pdf   = {https://www.research-collection.ethz.ch/handle/20.500.11850/489726},
}
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Grandia, R.; Harley, O.; Galliard, C.; Zimmermann, S.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2021_iros_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-grandia-harley-galliard-zimmermann-hutter-wholebodympcandonlinegaitsequencegenerationforwheeledleggedrobots-2021', 'https://www.markobjelonic.com//publications/files/2021_iros_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/_rPvKlvyw2w\"\n     onclick=\"log_download('bjelonic-grandia-harley-galliard-zimmermann-hutter-wholebodympcandonlinegaitsequencegenerationforwheeledleggedrobots-2021', 'https://youtu.be/_rPvKlvyw2w', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-grandia-harley-galliard-zimmermann-hutter-wholebodympcandonlinegaitsequencegenerationforwheeledleggedrobots-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>78 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-grandia-harley-galliard-zimmermann-hutter-wholebodympcandonlinegaitsequencegenerationforwheeledleggedrobots-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bjelonic2021wholebody,\n  author    = {Bjelonic, Marko and\n               Grandia, Ruben and\n               Harley, Oliver and\n               Galliard, Cla and\n               Zimmermann, Samuel and\n               Hutter, Marco},\n  title     = {Whole-Body MPC and Online Gait Sequence Generation for\n               Wheeled-Legged Robots},\n  journal   = {IEEE/RSJ International Conference on Intelligent Robots and\n               Systems (IROS)},\n  year      = {2021},\n  abstract  = {Our paper proposes a model predictive controller as a single-task\n               formulation that simultaneously optimizes wheel and torso motions.\n               This online joint velocity and ground reaction force optimization\n               integrates a kinodynamic model of a wheeled quadrupedal robot.\n               It defines the single rigid body dynamics along with the robot&#x27;s\n               kinematics while treating the wheels as moving ground contacts.\n               With this approach, we can accurately capture the robot&#x27;s rolling\n               constraint and dynamics, enabling automatic discovery of hybrid\n               maneuvers without needless motion heuristics. The formulation&#x27;s\n               generality through the simultaneous optimization over the robot&#x27;s\n               whole-body variables allows for a single set of parameters and \n               makes online gait sequence adaptation possible. Aperiodic gait\n               sequences are automatically found through kinematic leg utilities\n               without the need for predefined contact and lift-off timings,\n               reducing the cost of transport by up to 85%. Our experiments\n               demonstrate dynamic motions on a quadrupedal robot with non-steerable\n               wheels in challenging indoor and outdoor environments. The paper&#x27;s\n               findings contribute to evaluating a decomposed, i.e., sequential\n               optimization of wheel and torso motion, and single-task motion planner\n               with a novel quantity, the prediction error, which describes how well a\n               receding horizon planner can predict the robot’s future state. To this end,\n               we report an improvement of up to 71% using our proposed\n               single-task approach, making fast locomotion feasible\n               and revealing wheeled-legged robots&#x27; full potential.},\n  keywords  = {legged robots, wheeled robots,\n               motion and path planning, optimization and optimal control},\n  url_pdf   = {files/2021_iros_bjelonic.pdf},\n  url_video = {https://youtu.be/_rPvKlvyw2w}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a wheeled quadrupedal robot. It defines the single rigid body dynamics along with the robot's kinematics while treating the wheels as moving ground contacts. With this approach, we can accurately capture the robot's rolling constraint and dynamics, enabling automatic discovery of hybrid maneuvers without needless motion heuristics. The formulation's generality through the simultaneous optimization over the robot's whole-body variables allows for a single set of parameters and makes online gait sequence adaptation possible. Aperiodic gait sequences are automatically found through kinematic leg utilities without the need for predefined contact and lift-off timings, reducing the cost of transport by up to 85%. Our experiments demonstrate dynamic motions on a quadrupedal robot with non-steerable wheels in challenging indoor and outdoor environments. The paper's findings contribute to evaluating a decomposed, i.e., sequential optimization of wheel and torso motion, and single-task motion planner with a novel quantity, the prediction error, which describes how well a receding horizon planner can predict the robot’s future state. To this end, we report an improvement of up to 71% using our proposed single-task approach, making fast locomotion feasible and revealing wheeled-legged robots' full potential.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://arxiv.org/pdf/2103.13987.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021', 'https://arxiv.org/pdf/2103.13987.pdf', event);\">\n    Collision-Free MPC for Legged Robots in Static and Dynamic Scenes.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Gaertner, M.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Farshidian, F.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE International Conference on Robotics and Automation (ICRA)</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://arxiv.org/pdf/2103.13987.pdf\"\n     onclick=\"log_download('gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021', 'https://arxiv.org/pdf/2103.13987.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Collision-Free MPC for Legged Robots in Static and Dynamic Scenes [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/_wkqCVz3gdg\"\n     onclick=\"log_download('gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021', 'https://youtu.be/_wkqCVz3gdg', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Collision-Free MPC for Legged Robots in Static and Dynamic Scenes [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>24 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('gaertner-bjelonic-farshidian-hutter-collisionfreempcforleggedrobotsinstaticanddynamicscenes-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{gaertner2021collision,\n  author    = {Gaertner, Magnus and\n               Bjelonic, Marko and\n               Farshidian, Farbod and\n               Hutter, Marco},\n  title     = {Collision-Free MPC for Legged Robots in Static and Dynamic Scenes},\n  journal   = {IEEE International Conference on Robotics and Automation (ICRA)},\n  year      = {2021},\n  abstract  = {We present a model predictive controller (MPC) that automatically\n               discovers collision-free locomotion while simultaneously taking into account\n               the system dynamics, friction constraints, and kinematic limitations.\n               A relaxed barrier function is added to the optimization&#x27;s cost function,\n               leading to collision avoidance behavior without increasing the problem&#x27;s\n               computational complexity. Our holistic approach does not require any\n               heuristics and enables legged robots to find whole-body motions in the\n               presence of static and dynamic obstacles. We use a dynamically generated\n               euclidean signed distance field for static collision checking. Collision\n               checking for dynamic obstacles is modeled with moving cylinders, increasing\n               the responsiveness to fast-moving agents. Furthermore, we include a Kalman\n               filter motion prediction for moving obstacles into our receding horizon\n               planning, enabling the robot to anticipate possible future collisions. Our\n               experiments demonstrate collision-free motions on a quadrupedal robot in\n               challenging indoor environments. The robot handles complex scenes like\n               overhanging obstacles and dynamic agents by exploring motions at the robot&#x27;s\n               dynamic and kinematic limits.},\n  keywords  = {legged robots, MPC, collision-free planing, mapping},\n  url_pdf   = {https://arxiv.org/pdf/2103.13987.pdf},\n  url_video = {https://youtu.be/_wkqCVz3gdg},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function is added to the optimization's cost function, leading to collision avoidance behavior without increasing the problem's computational complexity. Our holistic approach does not require any heuristics and enables legged robots to find whole-body motions in the presence of static and dynamic obstacles. We use a dynamically generated euclidean signed distance field for static collision checking. Collision checking for dynamic obstacles is modeled with moving cylinders, increasing the responsiveness to fast-moving agents. Furthermore, we include a Kalman filter motion prediction for moving obstacles into our receding horizon planning, enabling the robot to anticipate possible future collisions. Our experiments demonstrate collision-free motions on a quadrupedal robot in challenging indoor environments. The robot handles complex scenes like overhanging obstacles and dynamic agents by exploring motions at the robot's dynamic and kinematic limits.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"marcotranzatto-lukasbernreiter-marcocamurri-tungdang-johannesloeje-samuelzimmermann-mariusfehr-russellbuchanan-etal-cerberusautonomousleggedandaerialroboticexplorationinthetunnelandurbancircuitsofthedarpasubterraneanchallenge-2021\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.research-collection.ethz.ch/handle/20.500.11850/489726\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'marcotranzatto-lukasbernreiter-marcocamurri-tungdang-johannesloeje-samuelzimmermann-mariusfehr-russellbuchanan-etal-cerberusautonomousleggedandaerialroboticexplorationinthetunnelandurbancircuitsofthedarpasubterraneanchallenge-2021', 'https://www.research-collection.ethz.ch/handle/20.500.11850/489726', event);\">\n    CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Marco Tranzatto, F. M.; Lukas Bernreiter, C. G.; Marco Camurri, S. M. K. K.; Tung Dang, V. R.; Johannes Loeje, D. W.; Samuel Zimmermann, H. N.; Marius Fehr, L. S.; Russell Buchanan, M. B.; Nikhil Khedekar, M. V.; Fabian Jenelten, M. D.; Timon Homberger, P. D. P.; Lorenz Wellhausen, M. K.; Takahiro Miki, S. H.; Markus Montenegro, C. P.; Fabian Tresoldi, J. C.; Giorgio Valsecchi, J. L.; Konrad Meyer, X. W.; Juan Nieto, A. S.; Marco Hutter, R. Y S.;  and Mark Mueller, M. F.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>.  2021.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.research-collection.ethz.ch/handle/20.500.11850/489726\"\n     onclick=\"log_download('marcotranzatto-lukasbernreiter-marcocamurri-tungdang-johannesloeje-samuelzimmermann-mariusfehr-russellbuchanan-etal-cerberusautonomousleggedandaerialroboticexplorationinthetunnelandurbancircuitsofthedarpasubterraneanchallenge-2021', 'https://www.research-collection.ethz.ch/handle/20.500.11850/489726', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/marcotranzatto-lukasbernreiter-marcocamurri-tungdang-johannesloeje-samuelzimmermann-mariusfehr-russellbuchanan-etal-cerberusautonomousleggedandaerialroboticexplorationinthetunnelandurbancircuitsofthedarpasubterraneanchallenge-2021\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('marcotranzatto-lukasbernreiter-marcocamurri-tungdang-johannesloeje-samuelzimmermann-mariusfehr-russellbuchanan-etal-cerberusautonomousleggedandaerialroboticexplorationinthetunnelandurbancircuitsofthedarpasubterraneanchallenge-2021')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{tranzatto2021cerberus,\n  author    = {Marco Tranzatto, Frank Mascarich, Lukas Bernreiter,\n               Carolina Godinho, Marco Camurri, Shehryar Masaud Khan Khattak,\n               Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth,\n               Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka,\n               Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini,\n               Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris,\n               Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch,\n               Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius,\n               Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto,\n               Andy Smith, Marco Hutter, Roland Y Siegwart, Mark Mueller,\n               Maurice Fallon, Kostas Alexis},\n  title     = {CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},\n  journal   = {Journal of Field Robotics},\n  year      = {2021},\n  abstract  = {Autonomous exploration of subterranean environments constitutes a\n               major frontier for robotic systems as underground settings present key\n               challenges that can render robot autonomy hard to achieve. This has\n               motivated the DARPA Subterranean Challenge, where teams of robots search\n               for objects of interest in various underground environments. In response,\n               the CERBERUS system-of-systems is presented as a unified strategy towards\n               subterranean exploration using legged and flying robots.  As primary robots,\n               ANYmal quadruped systems are deployed considering their endurance and potential\n               to traverse challenging terrain. For aerial robots, both conventional and\n               collision-tolerant multirotors are utilized to explore spaces too narrow or\n               otherwise unreachable by ground systems. Anticipating degraded sensing\n               conditions, a complementary multi-modal sensor fusion approach utilizing\n               camera, LiDAR, and inertial data for resilient robot pose estimation is\n               proposed. Individual robot pose estimates are refined by a centralized\n               multi-robot map optimization approach to improve the reported location\n               accuracy of detected objects of interest in the DARPA-defined coordinate\n               frame. Furthermore, a unified exploration path planning policy is presented\n               to facilitate the autonomous operation of both legged and aerial robots in\n               complex underground networks. Finally, to enable communication between the\n               robots and the base station, CERBERUS utilizes a ground rover with a high-gain\n               antenna and an optical fiber connection to the base station, alongside breadcrumbing\n               of wireless nodes by our legged robots. We report results from the CERBERUS\n               system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits,\n               along with the current limitations and the lessons learned for the benefit of the community.},\n  url_pdf   = {https://www.research-collection.ethz.ch/handle/20.500.11850/489726},\n}\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication between the robots and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station, alongside breadcrumbing of wireless nodes by our legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits, along with the current limitations and the lessons learned for the benefit of the community.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2020\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2020')\"\n      onkeypress=\"toggleGroup('group_2020')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2020</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2020_ral_bjelonic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020', 'https://www.markobjelonic.com//publications/files/2020_ral_bjelonic.pdf', event);\">\n    Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Sankar, P. K.; Bellicoso, C. D; Vallery, H.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 5(2): 3626-3633.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2020_ral_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020', 'https://www.markobjelonic.com//publications/files/2020_ral_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/ukY0vyM-yfY\"\n     onclick=\"log_download('bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020', 'https://youtu.be/ukY0vyM-yfY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/tf_twcbF4P4\"\n     onclick=\"log_download('bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020', 'https://youtu.be/tf_twcbF4P4', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/LRA.2020.2979661\"\n     onclick=\"log_download('bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020', 'http://doi.org/10.1109/LRA.2020.2979661', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>36 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-sankar-bellicoso-vallery-hutter-rollinginthedeephybridlocomotionforwheeledleggedrobotsusingonlinetrajectoryoptimization-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bjelonic2020rolling,\n  author    = {Bjelonic, Marko and\n               Sankar, Prajish K. and\n               Bellicoso, Carmine D and\n               Vallery, Heike and\n               Hutter, Marco},\n  title     = {Rolling in the Deep - Hybrid Locomotion for Wheeled-Legged\n               Robots using Online Trajectory Optimization},\n  journal   = {IEEE Robotics and Automation Letters},\n  volume    = {5},\n  number    = {2},\n  pages     = {3626-3633},\n  doi       = {10.1109/LRA.2020.2979661},\n  year      = {2020},\n  abstract  = {Wheeled-legged robots have the potential for highly agile and\n               versatile locomotion. The combination of legs and wheels might\n               be a solution for any real-world application requiring rapid,\n               and long-distance mobility skills on challenging terrain. In\n               this paper, we present an online trajectory optimization\n               framework for wheeled quadrupedal robots capable of executing\n               hybrid walking-driving locomotion strategies. By breaking down\n               the optimization problem into a wheel and base trajectory\n               planning, locomotion planning for high dimensional\n               wheeled-legged robots becomes more tractable, can be solved in\n               real-time on-board in a model predictive control fashion, and\n               becomes robust against unpredicted disturbances. The reference\n               motions are tracked by a hierarchical whole-body controller that\n               sends torque commands to the robot. Our approach is verified on\n               a quadrupedal robot that is fully torque-controlled, including\n               the non-steerable wheels attached to its legs. The robot\n               performs hybrid locomotion with different gait sequences on flat\n               and rough terrain. In addition, we validated the robotic\n               platform at the Defense Advanced Research Projects Agency\n               (DARPA) Subterranean Challenge, where the robot rapidly maps,\n               navigates, and explores dynamic underground environments.},\n  keywords  = {legged robots, wheeled robots,\n               motion and path planning, optimization and optimal control},\n  url_pdf   = {files/2020_ral_bjelonic.pdf},\n  url_video = {https://youtu.be/ukY0vyM-yfY},\n  url_link  = {https://ieeexplore.ieee.org/document/9028228},\n  url_link  = {https://youtu.be/tf_twcbF4P4},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging terrain. In this paper, we present an online trajectory optimization framework for wheeled quadrupedal robots capable of executing hybrid walking-driving locomotion strategies. By breaking down the optimization problem into a wheel and base trajectory planning, locomotion planning for high dimensional wheeled-legged robots becomes more tractable, can be solved in real-time on-board in a model predictive control fashion, and becomes robust against unpredicted disturbances. The reference motions are tracked by a hierarchical whole-body controller that sends torque commands to the robot. Our approach is verified on a quadrupedal robot that is fully torque-controlled, including the non-steerable wheels attached to its legs. The robot performs hybrid locomotion with different gait sequences on flat and rough terrain. In addition, we validated the robotic platform at the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, where the robot rapidly maps, navigates, and explores dynamic underground environments.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2020_ral_medeiros.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020', 'https://www.markobjelonic.com//publications/files/2020_ral_medeiros.pdf', event);\">\n    Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Medeiros, S. V.; Jelavic, E.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Siegwart, R.; Meggiolaro, A. M.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2020_ral_medeiros.pdf\"\n     onclick=\"log_download('medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020', 'https://www.markobjelonic.com//publications/files/2020_ral_medeiros.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/DlJGFhGS3HM\"\n     onclick=\"log_download('medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020', 'https://youtu.be/DlJGFhGS3HM', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9079567\"\n     onclick=\"log_download('medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020', 'https://ieeexplore.ieee.org/document/9079567', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>18 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('medeiros-jelavic-bjelonic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsdrivinginchallengingterrain-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{medeiros2020trajectory,\n  author    = {Medeiros, S. Vivian and\n               Jelavic, Edo and\n               Bjelonic, Marko and\n               Siegwart, Roland and\n               Meggiolaro, A. Marco and\n               Hutter, Marco},\n  title     = {Trajectory Optimization for Wheeled-Legged Quadrupedal Robots\n               Driving in Challenging Terrain},\n  journal   = {IEEE Robotics and Automation Letters},\n  year      = {2020},\n  abstract  = {Wheeled-legged robots are an attractive solution for versatile\n               locomotion in challenging terrain. They combine the speed and\n               efficiency of wheels with the ability of legs to traverse\n               challenging terrain. In this paper, we present a trajectory\n               optimization formulation for wheeled-legged robots that\n               optimizes over the base and wheels&#x27; positions and forces and\n               takes into account the terrain information while computing the\n               plans. This enables us to find optimal driving motions over\n               challenging terrain. The robot is modeled as a single\n               rigid-body, which allows us to plan complex motions and still\n               keep a low computational complexity to solve the optimization\n               quickly. The terrain map, together with the use of a stability\n               constraint, allows the optimizer to generate feasible motions\n               that cannot be discovered without taking the terrain information\n               into account. The optimization is formulated as a Nonlinear\n               Programming (NLP) problem and the reference motions are tracked\n               by a hierarchical whole-body controller that computes the torque\n               actuation commands for the robot. The trajectories have been\n               experimentally verified on quadrupedal robot ANYmal equipped\n               with non-steerable torque-controlled wheels. Our trajectory\n               optimization framework enables wheeled quadrupedal robots to\n               drive over challenging terrain, e.g., steps, slopes, stairs,\n               while negotiating these obstacles with dynamic motions.},\n  keywords  = {legged robots, wheeled robots, motion planning,\n               optimization and optimal control},\n  url_pdf   = {files/2020_ral_medeiros.pdf},\n  url_video = {https://youtu.be/DlJGFhGS3HM},\n  url_link  = {https://ieeexplore.ieee.org/document/9079567},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Wheeled-legged robots are an attractive solution for versatile locomotion in challenging terrain. They combine the speed and efficiency of wheels with the ability of legs to traverse challenging terrain. In this paper, we present a trajectory optimization formulation for wheeled-legged robots that optimizes over the base and wheels' positions and forces and takes into account the terrain information while computing the plans. This enables us to find optimal driving motions over challenging terrain. The robot is modeled as a single rigid-body, which allows us to plan complex motions and still keep a low computational complexity to solve the optimization quickly. The terrain map, together with the use of a stability constraint, allows the optimizer to generate feasible motions that cannot be discovered without taking the terrain information into account. The optimization is formulated as a Nonlinear Programming (NLP) problem and the reference motions are tracked by a hierarchical whole-body controller that computes the torque actuation commands for the robot. The trajectories have been experimentally verified on quadrupedal robot ANYmal equipped with non-steerable torque-controlled wheels. Our trajectory optimization framework enables wheeled quadrupedal robots to drive over challenging terrain, e.g., steps, slopes, stairs, while negotiating these obstacles with dynamic motions.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020', 'https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces', event);\">\n    Perceptive Whole Body Planning for Multi-legged Robots in Confined Spaces.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Buchanan, R.; Wellhausen, L.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Bandyopadhyay, T.; Kottege, N.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\"\n     onclick=\"log_download('buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020', 'https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perceptive Whole Body Planning for Multi-legged Robots in Confined Spaces [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/C2e0JTdwid0\"\n     onclick=\"log_download('buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020', 'https://youtu.be/C2e0JTdwid0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perceptive Whole Body Planning for Multi-legged Robots in Confined Spaces [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces\"\n     onclick=\"log_download('buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020', 'https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perceptive Whole Body Planning for Multi-legged Robots in Confined Spaces [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1002/rob.21974\"\n     onclick=\"log_download('buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020', 'http://doi.org/10.1002/rob.21974', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>9 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('buchanan-wellhausen-bjelonic-bandyopadhyay-kottege-hutter-perceptivewholebodyplanningformultileggedrobotsinconfinedspaces-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{buchanan2020perceptive,\n  author    = {Buchanan, Russel and\n               Wellhausen, Lorenz and\n               Bjelonic, Marko and\n               Bandyopadhyay, Tirthankar and\n               Kottege, Navinda and\n               Hutter, Marco},\n  title     = {Perceptive Whole Body Planning for\n               Multi-legged Robots in Confined Spaces},\n  journal   = {Journal of Field Robotics},\n  doi       = {10.1002/rob.21974},\n  year      = {2020},\n  abstract  = {Legged robots are exceedingly versatile and have the potential to navigate complex, confined spaces due\n               to their many degrees of freedom. As a result of the computational complexity , there exist no online\n               planners for perceptive whole body locomotion of robots in tight spaces. In this paper, we present a\n               new method for perceptive planning for multi-legged robots, which generates body poses, footholds, and\n               swing trajectories for collision avoidance. Measurements from an onboard depth camera are used to create\n               a 3D map of the terrain around the robot. We randomly sample body poses then smooth the resulting\n               trajectory while satisfying several constraints such as robot kinematics and collision avoidance.\n               Footholds and swing trajectories are computed based on the terrain, and the robot body pose is optimized\n               to ensure stable locomotion while not colliding with the environment. Our method is designed to run\n               online on a real robot and generate trajectories several meters long. We first tested our algorithm in\n               several simulations with varied confined spaces using the quadrupedal robot ANYmal. We also simulated\n               experiments with the hexapod robot Weaver to demonstrate applicability to different legged robot\n               configurations. Then, we demonstrated our whole body planner in several online experiments both indoors\n               and in realistic scenarios at an emergency rescue training facility. ANYmal, which has a nominal\n               standing height of 80 cm and width of 59 cm, navigated through several representative disaster areas\n               with openings as small as 60 cm. 3 m trajectories were re-planned with 500 ms update times.},\n  url_pdf   = {https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces},\n  url_video = {https://youtu.be/C2e0JTdwid0},\n  url_link  = {https://www.researchgate.net/publication/342078558_Perceptive_Whole_Body_Planning_for_Multi-legged_Robots_in_Confined_Spaces}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Legged robots are exceedingly versatile and have the potential to navigate complex, confined spaces due to their many degrees of freedom. As a result of the computational complexity , there exist no online planners for perceptive whole body locomotion of robots in tight spaces. In this paper, we present a new method for perceptive planning for multi-legged robots, which generates body poses, footholds, and swing trajectories for collision avoidance. Measurements from an onboard depth camera are used to create a 3D map of the terrain around the robot. We randomly sample body poses then smooth the resulting trajectory while satisfying several constraints such as robot kinematics and collision avoidance. Footholds and swing trajectories are computed based on the terrain, and the robot body pose is optimized to ensure stable locomotion while not colliding with the environment. Our method is designed to run online on a real robot and generate trajectories several meters long. We first tested our algorithm in several simulations with varied confined spaces using the quadrupedal robot ANYmal. We also simulated experiments with the hexapod robot Weaver to demonstrate applicability to different legged robot configurations. Then, we demonstrated our whole body planner in several online experiments both indoors and in realistic scenarios at an emergency rescue training facility. ANYmal, which has a nominal standing height of 80 cm and width of 59 cm, navigated through several representative disaster areas with openings as small as 60 cm. 3 m trajectories were re-planned with 500 ms update times.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&amp;isAllowed=y\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020', 'https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&amp;isAllowed=y', event);\">\n    Perceptive Locomotion in Rough Terrain – Online Foothold Optimization.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Jenelten, F.; Miki, T.; Vijayan, A. E.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 5(4): 5370-5376.  2020.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&amp;isAllowed=y\"\n     onclick=\"log_download('jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020', 'https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&amp;isAllowed=y', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perceptive Locomotion in Rough Terrain – Online Foothold Optimization [link]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/ViecsBmjusI\"\n     onclick=\"log_download('jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020', 'https://youtu.be/ViecsBmjusI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perceptive Locomotion in Rough Terrain – Online Foothold Optimization [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/9134750\"\n     onclick=\"log_download('jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020', 'https://ieeexplore.ieee.org/document/9134750', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Perceptive Locomotion in Rough Terrain – Online Foothold Optimization [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/LRA.2020.3007427\"\n     onclick=\"log_download('jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020', 'http://doi.org/10.1109/LRA.2020.3007427', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>5 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('jenelten-miki-vijayan-bjelonic-hutter-perceptivelocomotioninroughterrainonlinefootholdoptimization-2020')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{jenelten2020perceptive,\n  author    = {Jenelten, Fabian and\n               Miki, Takahiro and\n               Vijayan, Aravind E. and\n               Bjelonic, Marko and\n               Hutter, Marco},\n  title     = {Perceptive Locomotion in Rough Terrain – Online Foothold\n               Optimization},\n  journal   = {IEEE Robotics and Automation Letters},\n  volume    = {5},\n  number    = {4},\n  pages     = {5370-5376},\n  doi       = {10.1109/LRA.2020.3007427},\n  year      = {2020},\n  abstract  = {Compared to wheeled vehicles, legged systems have a vast\n               potential to traverse challenging terrain. To exploit the full\n               potential, it is crucial to tightly integrate terrain\n               perception for foothold planning. We present a hierarchical\n               locomotion planner together with a foothold optimizer that\n               finds locally optimal footholds within an elevation map. The\n               map is generated in real-time from on-board depth sensors. We\n               further propose a terrain-aware contact schedule to deal with\n               actuator velocity limits. We validate the combined locomotion\n               pipeline on our quadrupedal robot ANYmal with a variety of\n               simulated and real-world experiments. We show that our method\n               can cope with stairs and obstacles of heights up to 33% of the\n               robot&#x27;s leg length.},\n  url_pdf   = {https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/425596/RAL20___Perceptive_Locomotion_In_Rough_Terrain.pdf?sequence=1&amp;isAllowed=y},\n  url_video = {https://youtu.be/ViecsBmjusI},\n  url_link  = {https://ieeexplore.ieee.org/document/9134750}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We present a hierarchical locomotion planner together with a foothold optimizer that finds locally optimal footholds within an elevation map. The map is generated in real-time from on-board depth sensors. We further propose a terrain-aware contact schedule to deal with actuator velocity limits. We validate the combined locomotion pipeline on our quadrupedal robot ANYmal with a variety of simulated and real-world experiments. We show that our method can cope with stairs and obstacles of heights up to 33% of the robot's leg length.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2019\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2019')\"\n      onkeypress=\"toggleGroup('group_2019')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2019</span>\n      <span class=\"bibbase_group_count\">\n        \n        (5)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_ral_de_viragh.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019', 'https://www.markobjelonic.com//publications/files/2019_ral_de_viragh.pdf', event);\">\n    Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  de Viragh, Y.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; <a class=\"bibbase author link\" href=\"https://dbellicoso.github.io/publications/\">Bellicoso, C. D</a>; Jenelten, F.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 4(2): 1633-1640.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_ral_de_viragh.pdf\"\n     onclick=\"log_download('deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019', 'https://www.markobjelonic.com//publications/files/2019_ral_de_viragh.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/I1aTCTc0J4U\"\n     onclick=\"log_download('deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019', 'https://youtu.be/I1aTCTc0J4U', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8630448\"\n     onclick=\"log_download('deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019', 'https://ieeexplore.ieee.org/document/8630448', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled-Legged Quadrupedal Robots using Linearized ZMP Constraints [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/LRA.2019.2896721\"\n     onclick=\"log_download('deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019', 'http://doi.org/10.1109/LRA.2019.2896721', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>19 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('deviragh-bjelonic-bellicoso-jenelten-hutter-trajectoryoptimizationforwheeledleggedquadrupedalrobotsusinglinearizedzmpconstraints-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{deviragh2019trajectory,\n  author    = {de Viragh, Yvain and\n               Bjelonic, Marko and\n               Bellicoso, Carmine D 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/2019_ral_de_viragh.pdf},\n  url_video = {https://youtu.be/I1aTCTc0J4U},\n  url_link  = {https://ieeexplore.ieee.org/document/8630448}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We present a trajectory optimizer for quadrupedal robots with actuated wheels. By solving for angular, vertical, and planar components of the base and feet trajectories in a cascaded fashion and by introducing a novel linear formulation of the zero-moment point (ZMP) balance criterion, we rely on quadratic programming only, thereby eliminating the need for nonlinear optimization routines. Yet, even for gaits containing full flight phases, we are able to generate trajectories for executing complex motions that involve simultaneous driving, walking, and turning. We verified our approach in simulations of the quadrupedal robot ANYmal equipped with wheels, where we are able to run the proposed trajectory optimizer at 50 Hz. To the best of our knowledge, this is the first time that such dynamic motions are demonstrated for wheeled-legged quadrupedal robots using an online motion planner.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_ral_buchanan.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019', 'https://www.markobjelonic.com//publications/files/2019_ral_buchanan.pdf', event);\">\n    Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Buchanan, R.; Bandyopadhyay, T.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Wellhausen, L.; Hutter, M.;  and Kottege, N.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 4(2): 2148-2155.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_ral_buchanan.pdf\"\n     onclick=\"log_download('buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019', 'https://www.markobjelonic.com//publications/files/2019_ral_buchanan.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8642939\"\n     onclick=\"log_download('buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019', 'https://ieeexplore.ieee.org/document/8642939', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/LRA.2019.2899664\"\n     onclick=\"log_download('buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019', 'http://doi.org/10.1109/LRA.2019.2899664', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('buchanan-bandyopadhyay-bjelonic-wellhausen-hutter-kottege-walkingpostureadaptationforleggedrobotnavigationinconfinedspaces-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{buchanan2019walking,\n  author    = {Buchanan, Russel and\n               Bandyopadhyay, Tirthankar and\n               Bjelonic, Marko and\n               Wellhausen, Lorenz and\n               Hutter, Marco and\n               Kottege, Navinda},\n  title     = {Walking Posture Adaptation for Legged Robot Navigation in\n               Confined Spaces},\n  journal   = {IEEE Robotics and Automation Letters},\n  volume    = {4},\n  number    = {2},\n  pages     = {2148-2155},\n  doi       = {10.1109/LRA.2019.2899664},\n  year      = {2019},\n  abstract  = {Legged robots have the ability to adapt their walking posture to\n               navigate confined spaces due to their high degrees of freedom.\n               However, this has not been exploited in most common multilegged\n               platforms. This paper presents a deformable bounding box\n               abstraction of the robot model, with accompanying mapping and\n               planning strategies, that enable a legged robot to autonomously\n               change its body shape to navigate confined spaces. The mapping\n               is achieved using robot-centric multi-elevation maps generated\n               with distance sensors carried by the robot. The path planning is\n               based on the trajectory optimisation algorithm CHOMP which\n               creates smooth trajectories while avoiding obstacles. The\n               proposed method has been tested in simulation and implemented on\n               the hexapod robot Weaver, which is 33 cm tall and 82 cm wide\n               when walking normally. We demonstrate navigating under 25 cm\n               overhanging obstacles, through 70 cm wide gaps and over 22 cm\n               high obstacles in both artificial testing spaces and realistic\n               environments, including a subterranean mining tunnel.},\n  keywords  = {legged robots, motion control},\n  url_pdf   = {files/2019_ral_buchanan.pdf},\n  url_link  = {https://ieeexplore.ieee.org/document/8642939}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Legged robots have the ability to adapt their walking posture to navigate confined spaces due to their high degrees of freedom. However, this has not been exploited in most common multilegged platforms. This paper presents a deformable bounding box abstraction of the robot model, with accompanying mapping and planning strategies, that enable a legged robot to autonomously change its body shape to navigate confined spaces. The mapping is achieved using robot-centric multi-elevation maps generated with distance sensors carried by the robot. The path planning is based on the trajectory optimisation algorithm CHOMP which creates smooth trajectories while avoiding obstacles. The proposed method has been tested in simulation and implemented on the hexapod robot Weaver, which is 33 cm tall and 82 cm wide when walking normally. We demonstrate navigating under 25 cm overhanging obstacles, through 70 cm wide gaps and over 22 cm high obstacles in both artificial testing spaces and realistic environments, including a subterranean mining tunnel.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_ral_bjelonic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019', 'https://www.markobjelonic.com//publications/files/2019_ral_bjelonic.pdf', event);\">\n    Keep Rollin'- Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; <a class=\"bibbase author link\" href=\"https://dbellicoso.github.io/publications/\">Bellicoso, C. D</a>; de Viragh, Y.; Sako, D.; Tresoldi, F D.; Jenelten, F.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE Robotics and Automation Letters</i>, 4(2): 2116-2123.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_ral_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019', 'https://www.markobjelonic.com//publications/files/2019_ral_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Keep Rollin&#x27;- Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/nGLUsyx9Vvc\"\n     onclick=\"log_download('bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019', 'https://youtu.be/nGLUsyx9Vvc', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Keep Rollin&#x27;- Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8642912\"\n     onclick=\"log_download('bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019', 'https://ieeexplore.ieee.org/document/8642912', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Keep Rollin&#x27;- Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/LRA.2019.2899750\"\n     onclick=\"log_download('bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019', 'http://doi.org/10.1109/LRA.2019.2899750', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>27 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-bellicoso-deviragh-sako-tresoldi-jenelten-hutter-keeprollinwholebodymotioncontrolandplanningforwheeledquadrupedalrobots-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bjelonic2019keep,\n  author    = {Bjelonic, Marko and\n               Bellicoso, Carmine D 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&#x27;- Whole-Body Motion Control and Planning for Wheeled\n               Quadrupedal Robots},\n  journal   = {IEEE Robotics and Automation Letters},\n  volume    = {4},\n  number    = {2},\n  pages     = {2116-2123},\n  doi       = {10.1109/LRA.2019.2899750},\n  year      = {2019},\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   = {files/2019_ral_bjelonic.pdf},\n  url_video = {https://youtu.be/nGLUsyx9Vvc},\n  url_link  = {https://ieeexplore.ieee.org/document/8642912},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We show dynamic locomotion strategies for wheeled quadrupedal robots, which 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 relies on a zero-moment point based motion optimization which continuously updates reference trajectories. The reference motions are tracked by a hierarchical whole-body controller which computes optimal generalized accelerations and contact forces by solving a sequence of prioritized tasks including the nonholonomic rolling constraints. Our approach has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled including the non-steerable wheels attached to its legs. We conducted experiments on flat and inclined terrains as well as over steps, whereby we show that integrating the wheels into the motion control and planning framework results in intuitive motion trajectories, which enable more robust and dynamic locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4 m/s and a reduction of the cost of transport by 83 % we prove the superiority of wheeled-legged robots compared to their legged counterparts.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_icra_bellicoso.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019', 'https://www.markobjelonic.com//publications/files/2019_icra_bellicoso.pdf', event);\">\n    ALMA-Articulated Locomotion and Manipulation for a Torque-Controllable Robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Bellicoso, C. D; Kramer, K.; Stäuble, M.; Sako, D.; Jenelten, F.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>IEEE International Conference on Robotics and Automation (ICRA)</i>.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_icra_bellicoso.pdf\"\n     onclick=\"log_download('bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019', 'https://www.markobjelonic.com//publications/files/2019_icra_bellicoso.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"ALMA-Articulated Locomotion and Manipulation for a Torque-Controllable Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/XrcLXX4AEWE\"\n     onclick=\"log_download('bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019', 'https://youtu.be/XrcLXX4AEWE', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"ALMA-Articulated Locomotion and Manipulation for a Torque-Controllable Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bellicoso-kramer-stuble-sako-jenelten-bjelonic-hutter-almaarticulatedlocomotionandmanipulationforatorquecontrollablerobot-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bellicoso2019alma,\n  author    = {Bellicoso, Carmine D and\n               Kramer, Koen and\n               St{\\&quot;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  journal   = {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&#x27;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/2019_icra_bellicoso.pdf},\n  url_video = {https://youtu.be/XrcLXX4AEWE},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a motion planning and control framework for a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body controller based on a hierarchical optimization algorithm, enables the system to walk, trot and pace while executing operational space end-effector control, reactive human-robot collaboration and torso posture optimization to increase the arm's workspace. The torque control of the whole system enables the implementation of compliant behavior, allowing a user to safely interact with the robot. We verify our framework on the real robot by performing tasks such as opening a door and carrying a payload together with a human.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_amam_medeiros.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019', 'https://www.markobjelonic.com//publications/files/2019_amam_medeiros.pdf', event);\">\n    Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Medeiros, S. V.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Jelavic, E.; Siegwart, R.; Meggiolaro, A. M.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>International Symposium on Adaptive Motion of Animals and Machines (AMAM)</i>.  2019.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2019_amam_medeiros.pdf\"\n     onclick=\"log_download('medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019', 'https://www.markobjelonic.com//publications/files/2019_amam_medeiros.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/lELr4stekhQ\"\n     onclick=\"log_download('medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019', 'https://youtu.be/lELr4stekhQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('medeiros-bjelonic-jelavic-siegwart-meggiolaro-hutter-trajectoryoptimizationforwheeledquadrupedalrobotsdrivinginchallengingterrain-2019')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{medeiros2019trajectory,\n  author    = {Medeiros, S. Vivian and\n               Bjelonic, Marko and\n               Jelavic, Edo and\n               Siegwart, Roland and\n               Meggiolaro, A. Marco and\n               Hutter, Marco},\n  title     = {Trajectory Optimization for Wheeled Quadrupedal Robots Driving\n               in Challenging Terrain},\n  journal   = {International Symposium on Adaptive Motion of Animals and Machines (AMAM)},\n  year      = {2019},\n  abstract  = {We present a trajectory optimizer for driving motions for\n               wheeled-legged quadrupedal robots with actuated wheels.\n               A simplified two-dimensional Single Rigid Body model is\n               used, which allows for fast solutions even for trajectories\n               with a long time horizon. Since the planner has knowledge\n               of the terrain and performs the optimization over the wheels’\n               contact forces as well as its positions, the robot is able to tra-\n               verse challenging terrain, including driving up a step, which\n               to the best of our knowledge was never shown before.},\n  keywords  = {legged robots, wheeled robots, trajectory optimization},\n  url_pdf   = {files/2019_amam_medeiros.pdf},\n  url_video = {https://youtu.be/lELr4stekhQ},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  We present a trajectory optimizer for driving motions for wheeled-legged quadrupedal robots with actuated wheels. A simplified two-dimensional Single Rigid Body model is used, which allows for fast solutions even for trajectories with a long time horizon. Since the planner has knowledge of the terrain and performs the optimization over the wheels’ contact forces as well as its positions, the robot is able to tra- verse challenging terrain, including driving up a step, which to the best of our knowledge was never shown before.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (6)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://youtu.be/2RQDp0Q2vSo\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018', 'https://youtu.be/2RQDp0Q2vSo', event);\">\n    Towards a generic Solution for Inspection of Industrial Sites.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hutter, M.; Diethelm, R.; Bachmann, S.; Fankhauser, P.; Gehring, C.; Tsounis, V.; Lauber, A.; Guenther, F.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Isler, L.;  and others\n</span>\n\n  \n\n</span>\n\n  In <i>Field and Service Robotics</i>, pages 575–589,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://youtu.be/2RQDp0Q2vSo\"\n     onclick=\"log_download('hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018', 'https://youtu.be/2RQDp0Q2vSo', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards a generic Solution for Inspection of Industrial Sites [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.3929/ethz-b-000183150\"\n     onclick=\"log_download('hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018', 'https://doi.org/10.3929/ethz-b-000183150', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Towards a generic Solution for Inspection of Industrial Sites [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.3929/ethz-b-000183150\"\n     onclick=\"log_download('hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018', 'http://doi.org/10.3929/ethz-b-000183150', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hutter-diethelm-bachmann-fankhauser-gehring-tsounis-lauber-guenther-etal-towardsagenericsolutionforinspectionofindustrialsites-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{hutter2018towards,\n  author    = {Hutter, Marco and\n               Diethelm, Remo and\n               Bachmann, Samuel and\n               Fankhauser, Peter and\n               Gehring, Christian and\n               Tsounis, Vassilios and\n               Lauber, Andreas and\n               Guenther, Fabian and\n               Bjelonic, Marko and\n               Isler, Linus and\n               others},\n  title     = {Towards a generic Solution for Inspection of Industrial Sites},\n  booktitle = {Field and Service Robotics},\n  year      = {2018},\n  pages     = {575--589},\n  doi       = {10.3929/ethz-b-000183150},\n  abstract  = {Autonomous robotic inspection of industrial sites offers a huge\n               potential with respect to increasing human safety and operational\n               efficiency. The present paper provides an insight into the\n               approach taken by team LIO during the ARGOS Challenge. In this\n               international competition, the legged robot ANYmal was equipped\n               with a sensor head to perform visual, acoustic, and thermal\n               inspection on an oil and gas site. The robot was able to\n               autonomously navigate on the outdoor industrial facilty using\n               rotating line-LIDAR sensors for localization and terrain mapping.\n               Thanks to the superior mobility of legged robots, ANYmal can\n               omni-directionally move with statically and dynamically stable\n               gaits while overcoming large obstacles and stairs. Moreover, the\n               versatile machine can adapt its posture for inspection. The paper\n               additionally provides insight into the methods applied for visual\n               inspection of pressure gauges and concludes with some insight\n               into the general learnings from the ARGOS Challenge.},\n  keywords  = {legged robot, quadruped robot, field robotics,\n               series elastic actuation, autonomous navigation},\n  url_video = {https://youtu.be/2RQDp0Q2vSo},\n  url_link  = {https://doi.org/10.3929/ethz-b-000183150},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Autonomous robotic inspection of industrial sites offers a huge potential with respect to increasing human safety and operational efficiency. The present paper provides an insight into the approach taken by team LIO during the ARGOS Challenge. In this international competition, the legged robot ANYmal was equipped with a sensor head to perform visual, acoustic, and thermal inspection on an oil and gas site. The robot was able to autonomously navigate on the outdoor industrial facilty using rotating line-LIDAR sensors for localization and terrain mapping. Thanks to the superior mobility of legged robots, ANYmal can omni-directionally move with statically and dynamically stable gaits while overcoming large obstacles and stairs. Moreover, the versatile machine can adapt its posture for inspection. The paper additionally provides insight into the methods applied for visual inspection of pressure gauges and concludes with some insight into the general learnings from the ARGOS Challenge.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://youtu.be/CpzQu25iLa0\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018', 'https://youtu.be/CpzQu25iLa0', event);\">\n    Robust Rough-Terrain Locomotion with a Quadrupedal Robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Fankhauser, P.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; <a class=\"bibbase author link\" href=\"https://dbellicoso.github.io/publications/\">Bellicoso, C. D</a>; Miki, T.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Robotics and Automation (ICRA)</i>,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://youtu.be/CpzQu25iLa0\"\n     onclick=\"log_download('fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018', 'https://youtu.be/CpzQu25iLa0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Rough-Terrain Locomotion with a Quadrupedal Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8460731\"\n     onclick=\"log_download('fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018', 'https://ieeexplore.ieee.org/document/8460731', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Robust Rough-Terrain Locomotion with a Quadrupedal Robot [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2018.8460731\"\n     onclick=\"log_download('fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018', 'http://doi.org/10.1109/ICRA.2018.8460731', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('fankhauser-bjelonic-bellicoso-miki-hutter-robustroughterrainlocomotionwithaquadrupedalrobot-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{fankhauser2018robust,\n  author    = {Fankhauser, P{\\&#x27;e}ter and\n               Bjelonic, Marko and\n               Bellicoso, Carmine D 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</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Robots working in natural, urban, and industrial settings need to be able to navigate challenging environments. In this paper, we present a motion planner for the perceptive rough-terrain locomotion with quadrupedal robots. The planner finds safe footholds along with collision-free swing-leg motions by leveraging an acquired terrain map. To this end, we present a novel pose optimization approach that enables the robot to climb over significant obstacles. We experimentally validate our approach with the quadrupedal robot ANYmal by autonomously traversing obstacles such steps, inclines, and stairs. The locomotion planner re-plans the motion at every step to cope with disturbances and dynamic environments. The robot has no prior knowledge of the scene, and all mapping, state estimation, control, and planning is performed in real-time onboard the robot.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_jfr_bjelonic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018', 'https://www.markobjelonic.com//publications/files/2018_jfr_bjelonic.pdf', event);\">\n    Weaver: Hexapod Robot for Autonomous Navigation on Unstructured Terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Kottege, N.; Homberger, T.; Borges, P.; Beckerle, P.;  and Chli, M.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>,1063–1079.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_jfr_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018', 'https://www.markobjelonic.com//publications/files/2018_jfr_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Weaver: Hexapod Robot for Autonomous Navigation on Unstructured Terrain [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/eLMUiX96En0\"\n     onclick=\"log_download('bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018', 'https://youtu.be/eLMUiX96En0', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Weaver: Hexapod Robot for Autonomous Navigation on Unstructured Terrain [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1002/rob.21795\"\n     onclick=\"log_download('bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018', 'https://doi.org/10.1002/rob.21795', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Weaver: Hexapod Robot for Autonomous Navigation on Unstructured Terrain [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1002/rob.21795\"\n     onclick=\"log_download('bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018', 'http://doi.org/10.1002/rob.21795', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-kottege-homberger-borges-beckerle-chli-weaverhexapodrobotforautonomousnavigationonunstructuredterrain-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bjelonic2018weaver,\n  author    = {Bjelonic, Marko and\n               Kottege, Navinda and\n               Homberger, Timon and\n               Borges, Paulo and\n               Beckerle, Philipp and\n               Chli, Margarita},\n  title     = {Weaver: Hexapod Robot for Autonomous Navigation on Unstructured\n               Terrain},\n  journal   = {Journal of Field Robotics},\n  year      = {2018},\n  pages     = {1063--1079},\n  doi       = {10.1002/rob.21795},\n  abstract  = {Legged robots are an efficient alternative for navigation in\n               challenging terrain. In this paper we describe Weaver, a\n               six‐legged robot that is designed to perform autonomous\n               navigation in unstructured terrain. It uses stereo vision and\n               proprioceptive sensing based terrain perception for adaptive\n               control while using visual‐inertial odometry for autonomous\n               waypoint‐based navigation. Terrain perception generates a minimal\n               representation of the traversed environment in terms of roughness\n               and step height. This reduces the complexity of the terrain\n               model significantly, enabling the robot to feed back information\n               about the environment into its controller. Furthermore, we\n               combine exteroceptive and proprioceptive sensing to enhance the\n               terrain perception capabilities, especially in situations in\n               which the stereo camera is not able to generate an accurate\n               representation of the environment. The adaptation approach\n               described also exploits the unique properties of legged robots\n               by adapting the virtual stiffness, stride frequency, and stride\n               height. Weaver&#x27;s unique leg design with five joints per leg\n               improves locomotion on high gradient slopes, and this novel\n               configuration is further analyzed. Using these approaches, we\n               present an experimental evaluation of this fully self‐contained\n               hexapod performing autonomous navigation on a multiterrain\n               testbed and in outdoor terrain.},\n  keywords  = {legged robot, hexapedal robot, rough terrain, terain perception,\n               control adaptation},\n  url_pdf   = {files/2018_jfr_bjelonic.pdf},\n  url_video = {https://youtu.be/eLMUiX96En0},\n  url_link  = {https://doi.org/10.1002/rob.21795},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Legged robots are an efficient alternative for navigation in challenging terrain. In this paper we describe Weaver, a six‐legged robot that is designed to perform autonomous navigation in unstructured terrain. It uses stereo vision and proprioceptive sensing based terrain perception for adaptive control while using visual‐inertial odometry for autonomous waypoint‐based navigation. Terrain perception generates a minimal representation of the traversed environment in terms of roughness and step height. This reduces the complexity of the terrain model significantly, enabling the robot to feed back information about the environment into its controller. Furthermore, we combine exteroceptive and proprioceptive sensing to enhance the terrain perception capabilities, especially in situations in which the stereo camera is not able to generate an accurate representation of the environment. The adaptation approach described also exploits the unique properties of legged robots by adapting the virtual stiffness, stride frequency, and stride height. Weaver's unique leg design with five joints per leg improves locomotion on high gradient slopes, and this novel configuration is further analyzed. Using these approaches, we present an experimental evaluation of this fully self‐contained hexapod performing autonomous navigation on a multiterrain testbed and in outdoor terrain.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_iros_bjelonic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018', 'https://www.markobjelonic.com//publications/files/2018_iros_bjelonic.pdf', event);\">\n    Skating with a Force Controlled Quadrupedal Robot.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; <a class=\"bibbase author link\" href=\"https://dbellicoso.github.io/publications/\">Bellicoso, C. D</a>; Tiryaki, M E.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 7555–7561,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_iros_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018', 'https://www.markobjelonic.com//publications/files/2018_iros_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Skating with a Force Controlled Quadrupedal Robot [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/fJfAWiylpxw\"\n     onclick=\"log_download('bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018', 'https://youtu.be/fJfAWiylpxw', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Skating with a Force Controlled Quadrupedal Robot [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8594504\"\n     onclick=\"log_download('bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018', 'https://ieeexplore.ieee.org/document/8594504', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Skating with a Force Controlled Quadrupedal Robot [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2018.8594504\"\n     onclick=\"log_download('bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018', 'http://doi.org/10.1109/IROS.2018.8594504', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-bellicoso-tiryaki-hutter-skatingwithaforcecontrolledquadrupedalrobot-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bjelonic2018skating,\n  author    = {Bjelonic, Marko and\n               Bellicoso, Carmine D 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/2018_iros_bjelonic.pdf},\n  url_video = {https://youtu.be/fJfAWiylpxw},\n  url_link  = {https://ieeexplore.ieee.org/document/8594504}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Traditional legged robots are capable of traversing challenging terrain, but lack of energy efficiency when compared to wheeled systems operating on flat environments. The combination of both locomotion domains overcomes the trade-off between mobility and efficiency. Therefore, this paper presents a novel motion planner and controller which together enable a legged robot equipped with skates to perform skating maneuvers. These are achieved by an appropriate combination of planned reaction forces and gliding motions. Our novel motion controller formulates a Virtual Model Controller and an optimal contact force distribution which takes into account the nonholonomic constraints introduced by the skates. This approach has been tested on the torque-controllable robot ANYmal equipped with passive wheels and ice skates as end-effectors. We conducted experiments on flat and inclined terrain, whereby we show that skating motions reduces the cost of transport by up to 80\\,% with respect to traditional walking gaits.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_iros_stolz.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018', 'https://www.markobjelonic.com//publications/files/2018_iros_stolz.pdf', event);\">\n    An Adaptive Landing Gear for Extending the Operational Range of Helicopters.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Stolz, B.; Brödermann, T.; Castiello, E.; Engelberger, G.; Erne, D.; Gasser, J.; Hayoz, E.; Müller, S.; Mühlebach, L.; Löw, T.; Scheuer, D.; Vendeventer, L.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>;  and others\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 1757-1763,  2018. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_iros_stolz.pdf\"\n     onclick=\"log_download('stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018', 'https://www.markobjelonic.com//publications/files/2018_iros_stolz.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"An Adaptive Landing Gear for Extending the Operational Range of Helicopters [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/JtoOWS18D3k\"\n     onclick=\"log_download('stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018', 'https://youtu.be/JtoOWS18D3k', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Adaptive Landing Gear for Extending the Operational Range of Helicopters [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/8594062\"\n     onclick=\"log_download('stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018', 'https://ieeexplore.ieee.org/document/8594062', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An Adaptive Landing Gear for Extending the Operational Range of Helicopters [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2018.8594062\"\n     onclick=\"log_download('stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018', 'http://doi.org/10.1109/IROS.2018.8594062', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('stolz-brdermann-castiello-engelberger-erne-gasser-hayoz-mller-etal-anadaptivelandinggearforextendingtheoperationalrangeofhelicopters-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{stolz2018adaptive,\n  author    = {Stolz, Boris and\n               Br{\\&quot;o}dermann, Tim and\n               Castiello, Enea and\n               Engelberger, Gokula and\n               Erne, Daniel and\n               Gasser, Jan and\n               Hayoz, Eric and\n               M{\\&quot;u}ller, Stephan and\n               M{\\&quot;u}hlebach, Lorin and\n               L{\\&quot;o}w, Tobias and\n               Scheuer, Dominique and\n               Vendeventer, Luca and\n               Bjelonic, Marko and\n               others},\n  title     = {An Adaptive Landing Gear for Extending the Operational Range of\n               Helicopters},\n  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and\n               Systems (IROS)},\n  year      = {2018},\n  pages     = {1757-1763},\n  doi       = {10.1109/IROS.2018.8594062},\n  abstract  = {Conventional skid or wheel based helicopter landing gears\n               severely limit off-field landing possibilities, which are crucial\n               when operating in scenarios such as mountain rescue. In this\n               context, slopes beyond 8 ◦ and small obstacles can already pose a\n               substantial hazard. An adaptive landing gear is proposed to\n               overcome these limitations. It consists of four legs with one\n               degree of freedom each. The total weight was minimized to\n               demonstrate economic practicability. This was achieved by an\n               innovative actuation, composed of a parallel arrangement of motor\n               and brake, which relieves the motor from large impact loads\n               during hard landings. The loads are alleviated by a spring-damper\n               system acting in series to the actuation. Each leg is\n               individually force controlled for optimal load distribution on\n               compliant ground and to avoid tipping. The operation of the legs\n               is fully autonomous during the landing phase. A prototype was\n               designed and successfully tested on an unmanned helicopter with a\n               maximum take-off weight of 78 kg. Finally, the implementation of\n               the landing gear concept on aircraft of various scales was\n               discussed.},\n  keywords  = {legged locomotion, quadrupedal robot, skating, motion control,\n               force control},\n  url_pdf   = {files/2018_iros_stolz.pdf},\n  url_video = {https://youtu.be/JtoOWS18D3k},\n  url_link  = {https://ieeexplore.ieee.org/document/8594062}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  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 substantial hazard. An adaptive landing gear is proposed to overcome these limitations. It consists of four legs with one degree of freedom each. The total weight was minimized to demonstrate economic practicability. This was achieved by an innovative actuation, composed of a parallel arrangement of motor and brake, which relieves the motor from large impact loads during hard landings. The loads are alleviated by a spring-damper system acting in series to the actuation. Each leg is individually force controlled for optimal load distribution on compliant ground and to avoid tipping. The operation of the legs is fully autonomous during the landing phase. A prototype was designed and successfully tested on an unmanned helicopter with a maximum take-off weight of 78 kg. Finally, the implementation of the landing gear concept on aircraft of various scales was discussed.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_jfr_bellicoso.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018', 'https://www.markobjelonic.com//publications/files/2018_jfr_bellicoso.pdf', event);\">\n    Advances in Real-World Applications for Legged Robots.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://dbellicoso.github.io/publications/\">Bellicoso, C. D</a>; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Wellhausen, L.; Sako, D.; Holtmann, K.; Guenther, F.; Tranzatto, M.; Fankhauser, P.;  and Hutter, M.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Field Robotics</i>, 35(8): 1311-1326.  2018.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2018_jfr_bellicoso.pdf\"\n     onclick=\"log_download('bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018', 'https://www.markobjelonic.com//publications/files/2018_jfr_bellicoso.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Advances in Real-World Applications for Legged Robots [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/qrJlMze_xhQ\"\n     onclick=\"log_download('bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018', 'https://youtu.be/qrJlMze_xhQ', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Advances in Real-World Applications for Legged Robots [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1002/rob.21839\"\n     onclick=\"log_download('bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018', 'https://doi.org/10.1002/rob.21839', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Advances in Real-World Applications for Legged Robots [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1002/rob.21839\"\n     onclick=\"log_download('bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018', 'http://doi.org/10.1002/rob.21839', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bellicoso-bjelonic-wellhausen-sako-holtmann-guenther-tranzatto-fankhauser-etal-advancesinrealworldapplicationsforleggedrobots-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{bellicoso2018advances,\n  author    = {Bellicoso, Carmine D 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{\\&#x27;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/2018_jfr_bellicoso.pdf},\n  url_video = {https://youtu.be/qrJlMze_xhQ},\n  url_link  = {https://doi.org/10.1002/rob.21839}\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper provides insight into the application of the quadrupedal robot ANYmal in outdoor missions of industrial inspection (ARGOS Challenge) and search and rescue (European Robotics League (ERL) Emergency Robots). In both competitions, the legged robot had to autonomously and semi-autonomously navigate in real-world scenarios to complete high-level tasks such as inspection and payload delivery. In the ARGOS competition, ANYmal used a rotating LiDAR sensor to localize on the industrial site and map the terrain and obstacles around the robot. In the ERL competition, additional Real-Time Kinematic (RTK)-Global Positioning System (GPS) was used to co-localize the legged robot with respect to a Micro Aerial Vehicle (MAV) that creates maps from the aerial view. The high mobility of legged robots allows overcoming large obstacles, e.g. steps and stairs, with statically and dynamically stable gaits. Moreover, the versatile machine can adapt its posture for inspection and payload delivery. The paper concludes with insight into the general learnings from the ARGOS and ERL challenges.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2017_icra_elfes.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017', 'https://www.markobjelonic.com//publications/files/2017_icra_elfes.pdf', event);\">\n    The Multilegged Autonomous eXplorer (MAX).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Elfes, A.; Steindl, R.; Talbot, F.; Kendoul, F.; Sikka, P.; Lowe, T.; Kottege, N.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Dungavell, R.; Bandyopadhyay, T.;  and others\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 1050–1057,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2017_icra_elfes.pdf\"\n     onclick=\"log_download('elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017', 'https://www.markobjelonic.com//publications/files/2017_icra_elfes.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"The Multilegged Autonomous eXplorer (MAX) [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/nmELJzXl_Z8\"\n     onclick=\"log_download('elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017', 'https://youtu.be/nmELJzXl_Z8', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Multilegged Autonomous eXplorer (MAX) [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7989126\"\n     onclick=\"log_download('elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017', 'https://ieeexplore.ieee.org/document/7989126', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"The Multilegged Autonomous eXplorer (MAX) [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2017.7989126\"\n     onclick=\"log_download('elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017', 'http://doi.org/10.1109/ICRA.2017.7989126', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('elfes-steindl-talbot-kendoul-sikka-lowe-kottege-bjelonic-etal-themultileggedautonomousexplorermax-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{elfes2017multilegged,\n  author    = {Elfes, Alberto and\n               Steindl, Ryan and\n               Talbot, Fletcher and\n               Kendoul, Farid and\n               Sikka, Pavan and\n               Lowe, Tom and\n               Kottege, Navinda and\n               Bjelonic, Marko and\n               Dungavell, Ross and\n               Bandyopadhyay, Tirthankar and\n               others},\n  title     = {The Multilegged Autonomous eXplorer (MAX)},\n  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},\n  year      = {2017},\n  pages     = {1050--1057},\n  doi       = {10.1109/ICRA.2017.7989126},\n  abstract  = {To address the goal of locomotion in very complex and difficult\n              terrains, the authors are developing a new class of Ultralight\n              Legged Robots. This paper presents the Multilegged Autonomous\n              eXplorer (MAX), an ultralight, six-legged robot for traversal and\n              exploration of challenging indoor and outdoor environments. The\n              design of MAX emphasizes a low mass/size ratio, high locomotion\n              efficiency, and high payload capability compared to total system\n              mass. MAX is 2.25 m tall at full height and has a mass of\n              approximately 60 kg, which makes it 5 to 20 times lighter than\n              robots of comparable size. MAX is a research vehicle to explore\n              modelling and control of Ultralight Legged Robots subject to\n              flexing, oscillations and swaying; algorithms for gait planning\n              and motion planning under uncertainty; and navigation planning for\n              traversal of complex 3D terrains. This paper presents the design\n              of MAX, provides an overview of the control system developed,\n              summarizes results from indoor and outdoor tests, discusses system\n              performance and outlines the challenges to be addressed next.},\n  keywords  = {legged locomotion, actuators},\n  url_pdf   = {files/2017_icra_elfes.pdf},\n  url_video = {https://youtu.be/nmELJzXl_Z8},\n  url_link  = {https://ieeexplore.ieee.org/document/7989126},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  To address the goal of locomotion in very complex and difficult terrains, the authors are developing a new class of Ultralight Legged Robots. This paper presents the Multilegged Autonomous eXplorer (MAX), an ultralight, six-legged robot for traversal and exploration of challenging indoor and outdoor environments. The design of MAX emphasizes a low mass/size ratio, high locomotion efficiency, and high payload capability compared to total system mass. MAX is 2.25 m tall at full height and has a mass of approximately 60 kg, which makes it 5 to 20 times lighter than robots of comparable size. MAX is a research vehicle to explore modelling and control of Ultralight Legged Robots subject to flexing, oscillations and swaying; algorithms for gait planning and motion planning under uncertainty; and navigation planning for traversal of complex 3D terrains. This paper presents the design of MAX, provides an overview of the control system developed, summarizes results from indoor and outdoor tests, discusses system performance and outlines the challenges to be addressed next.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2017_icra_bjelonic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017', 'https://www.markobjelonic.com//publications/files/2017_icra_bjelonic.pdf', event);\">\n    Autonomous Navigation of Hexapod Robots with Vision-based Controller Adaptation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Homberger, T.; Kottege, N.; Borges, P.; Chli, M.;  and Beckerle, P.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 5561–5568,  2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2017_icra_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017', 'https://www.markobjelonic.com//publications/files/2017_icra_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Autonomous Navigation of Hexapod Robots with Vision-based Controller Adaptation [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/a9l0bHHm-yY\"\n     onclick=\"log_download('bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017', 'https://youtu.be/a9l0bHHm-yY', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Autonomous Navigation of Hexapod Robots with Vision-based Controller Adaptation [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7989655\"\n     onclick=\"log_download('bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017', 'https://ieeexplore.ieee.org/document/7989655', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Autonomous Navigation of Hexapod Robots with Vision-based Controller Adaptation [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2017.7989655\"\n     onclick=\"log_download('bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017', 'http://doi.org/10.1109/ICRA.2017.7989655', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-homberger-kottege-borges-chli-beckerle-autonomousnavigationofhexapodrobotswithvisionbasedcontrolleradaptation-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bjelonic2017autonomous,\n  author    = {Bjelonic, Marko and\n              Homberger, Timon and\n              Kottege, Navinda and\n              Borges, Paulo and\n              Chli, Margarita and\n              Beckerle, Philipp},\n  title     = {Autonomous Navigation of Hexapod Robots with Vision-based\n               Controller Adaptation},\n  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},\n  year      = {2017},\n  pages     = {5561--5568},\n  doi       = {10.1109/ICRA.2017.7989655},\n  abstract  = {This work introduces a novel hybrid control architecture for a\n               hexapod platform (Weaver), making it capable of autonomously\n               navigating in uneven terrain. The main contribution stems from\n               the use of vision-based exteroceptive terrain perception to adapt\n               the robot&#x27;s locomotion parameters. Avoiding computationally\n               expensive path planning for the individual foot tips, the\n               adaptation controller enables the robot to reactively adapt to\n               the surface structure it is moving on. The virtual stiffness,\n               which mainly characterizes the behavior of the legs&#x27; impedance\n               controller is adapted according to visually perceived terrain\n               properties. To further improve locomotion, the frequency and\n               height of the robot&#x27;s stride are similarly adapted. Furthermore,\n               novel methods for terrain characterization and a keyframe based\n               visual-inertial odometry algorithm are combined to generate a\n               spatial map of terrain characteristics. Localization via odometry\n               also allows for autonomous missions on variable terrain by\n               incorporating global navigation and terrain adaptation into one\n               control architecture. Autonomous runs on a testbed with variable\n               terrain types illustrate that adaptive stride and impedance\n               behavior decreases the cost of transport by 30 {\\%} compared to a\n               non-adaptive approach and simultaneously increases body stability\n               (up to 88 {\\%} on even terrain and by 54 {\\%} on uneven terrain).\n               Weaver is able to freely explore outdoor environments as it is\n               completely free of external tethers, as shown in the\n               experiments.},\n  keywords  = {legged locomotion, terrain perception, control adaptation},\n  url_pdf   = {files/2017_icra_bjelonic.pdf},\n  url_video = {https://youtu.be/a9l0bHHm-yY},\n  url_link  = {https://ieeexplore.ieee.org/document/7989655},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This work introduces a novel hybrid control architecture for a hexapod platform (Weaver), making it capable of autonomously navigating in uneven terrain. The main contribution stems from the use of vision-based exteroceptive terrain perception to adapt the robot's locomotion parameters. Avoiding computationally expensive path planning for the individual foot tips, the adaptation controller enables the robot to reactively adapt to the surface structure it is moving on. The virtual stiffness, which mainly characterizes the behavior of the legs' impedance controller is adapted according to visually perceived terrain properties. To further improve locomotion, the frequency and height of the robot's stride are similarly adapted. Furthermore, novel methods for terrain characterization and a keyframe based visual-inertial odometry algorithm are combined to generate a spatial map of terrain characteristics. Localization via odometry also allows for autonomous missions on variable terrain by incorporating global navigation and terrain adaptation into one control architecture. Autonomous runs on a testbed with variable terrain types illustrate that adaptive stride and impedance behavior decreases the cost of transport by 30 % compared to a non-adaptive approach and simultaneously increases body stability (up to 88 % on even terrain and by 54 % on uneven terrain). Weaver is able to freely explore outdoor environments as it is completely free of external tethers, as shown in the experiments.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2017_advanced_robotics_hutter.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017', 'https://www.markobjelonic.com//publications/files/2017_advanced_robotics_hutter.pdf', event);\">\n    ANYmal-toward Legged Robots for Harsh Environments.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Hutter, M.; Gehring, C.; Lauber, A.; Gunther, F; <a class=\"bibbase author link\" href=\"https://dbellicoso.github.io/publications/\">Bellicoso, C. D</a>; Tsounis, V.; Fankhauser, P.; Diethelm, R.; Bachmann, S.; Blösch, M.; Kolvenbach, H.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>;  and others\n</span>\n\n  \n\n</span>\n\n  <i>Advanced Robotics</i>,918–931.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2017_advanced_robotics_hutter.pdf\"\n     onclick=\"log_download('hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017', 'https://www.markobjelonic.com//publications/files/2017_advanced_robotics_hutter.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"ANYmal-toward Legged Robots for Harsh Environments [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://doi.org/10.1080/01691864.2017.1378591\"\n     onclick=\"log_download('hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017', 'https://doi.org/10.1080/01691864.2017.1378591', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"ANYmal-toward Legged Robots for Harsh Environments [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1080/01691864.2017.1378591\"\n     onclick=\"log_download('hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017', 'http://doi.org/10.1080/01691864.2017.1378591', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>6 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@article{hutter2017anymal,\n  author    = {Hutter, Marco and\n               Gehring, Christian and\n               Lauber, Andreas and\n               Gunther, F and\n               Bellicoso, Carmine D and\n               Tsounis, Vassilios and\n               Fankhauser, P{\\&#x27;e}ter and\n               Diethelm, Remo and\n               Bachmann, Samuel and\n               Bl{\\&quot;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/2017_advanced_robotics_hutter.pdf},\n  url_link  = {https://doi.org/10.1080/01691864.2017.1378591},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  This paper provides a system overview about ANYmal, a quadrupedal robot developed for operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular way for simple maintenance and user-friendly handling, while focusing on high mobility and dynamic motion capability. The system is tightly sealed to reach IP67 standard and protected to survive falls. Rotating lidar sensors in the front and back are used for localization and terrain mapping and compact force sensors in the feet provide accurate measurements about the contact situations. The variable payload, such as a modular pan-tilt head with a variety of inspection sensors, can be exchanged depending on the application. Thanks to novel, compliant joint modules with integrated electronics, ANYmal is precisely torque controllable and very robust against impulsive loads during running or jumping. In a series of experiments we demonstrate that ANYmal can execute various climbing maneuvers, walking gaits, as well as a dynamic trot and jump. As special feature, the joints can be fully rotated to switch between X- and O-type kinematic configurations. Detailed measurements unveil a low energy consumption of 280 W during locomotion, which results in an autonomy of more than 2 h.\n</div>\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (3)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2016_iser_homberger.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016', 'https://www.markobjelonic.com//publications/files/2016_iser_homberger.pdf', event);\">\n    Terrain-dependant Control of Hexapod Robots using Vision.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Homberger, T.; <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Kottege, N.;  and Borges, P. V.\n</span>\n\n  \n\n</span>\n\n  In <i>International Symposium on Experimental Robotics (ISER)</i>, pages 92–102,  2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2016_iser_homberger.pdf\"\n     onclick=\"log_download('homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016', 'https://www.markobjelonic.com//publications/files/2016_iser_homberger.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Terrain-dependant Control of Hexapod Robots using Vision [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/Rx4ewkxAItI\"\n     onclick=\"log_download('homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016', 'https://youtu.be/Rx4ewkxAItI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Terrain-dependant Control of Hexapod Robots using Vision [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9\"\n     onclick=\"log_download('homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016', 'https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Terrain-dependant Control of Hexapod Robots using Vision [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1007/978-3-319-50115-4_9\"\n     onclick=\"log_download('homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016', 'http://doi.org/10.1007/978-3-319-50115-4_9', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('homberger-bjelonic-kottege-borges-terraindependantcontrolofhexapodrobotsusingvision-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{homberger2016terrain,\n  author    = {Homberger, Timon and\n               Bjelonic, Marko and\n               Kottege, Navinda and\n               Borges, Paulo VK},\n  title     = {Terrain-dependant Control of Hexapod Robots using Vision},\n  booktitle = {International Symposium on Experimental Robotics (ISER)},\n  year      = {2016},\n  pages     = {92--102},\n  doi       = {10.1007/978-3-319-50115-4_9},\n  abstract  = {The ability to traverse uneven terrain is one of the key\n               advantages of legged robots. However, their effectiveness relies\n               on selecting appropriate gait parameters, such as stride height\n               and leg stiffness. The optimal parameters highly depend on the\n               characteristics of the terrain. This work presents a novel stereo\n               vision based terrain sensing method for a hexapod robot with 30\n               degrees of freedom. The terrain in front of the robot is analyzed\n               by extracting a set of features which enable the system to\n               characterize a large number of terrain types. Gait parameters and\n               leg stiffness for impedance control are adapted based on this\n               terrain characterization. Experiments show that adaptive\n               impedance control leads to efficient locomotion in terms of\n               energy consumption, mission success and body stability.},\n  keywords  = {legged locomotion, terrain perception},\n  url_pdf   = {files/2016_iser_homberger.pdf},\n  url_video = {https://youtu.be/Rx4ewkxAItI},\n  url_link  = {https://link.springer.com/chapter/10.1007/978-3-319-50115-4_9},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  The ability to traverse uneven terrain is one of the key advantages of legged robots. However, their effectiveness relies on selecting appropriate gait parameters, such as stride height and leg stiffness. The optimal parameters highly depend on the characteristics of the terrain. This work presents a novel stereo vision based terrain sensing method for a hexapod robot with 30 degrees of freedom. The terrain in front of the robot is analyzed by extracting a set of features which enable the system to characterize a large number of terrain types. Gait parameters and leg stiffness for impedance control are adapted based on this terrain characterization. Experiments show that adaptive impedance control leads to efficient locomotion in terms of energy consumption, mission success and body stability.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2016_iros_bjelonic.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016', 'https://www.markobjelonic.com//publications/files/2016_iros_bjelonic.pdf', event);\">\n    Proprioceptive control of an over-actuated hexapod robot in unstructured terrain.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>; Kottege, N.;  and Beckerle, P.\n</span>\n\n  \n\n</span>\n\n  In <i>IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 2042–2049,  2016. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://www.markobjelonic.com//publications/files/2016_iros_bjelonic.pdf\"\n     onclick=\"log_download('bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016', 'https://www.markobjelonic.com//publications/files/2016_iros_bjelonic.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Proprioceptive control of an over-actuated hexapod robot in unstructured terrain [pdf]\"\n       title=\" pdf\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> pdf</span></a>\n  &nbsp;\n  \n  <a href=\"https://youtu.be/OxOMmovPpdI\"\n     onclick=\"log_download('bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016', 'https://youtu.be/OxOMmovPpdI', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioceptive control of an over-actuated hexapod robot in unstructured terrain [link]\"\n       title=\" video\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> video</span></a>\n  &nbsp;\n  \n  <a href=\"https://ieeexplore.ieee.org/document/7759321\"\n     onclick=\"log_download('bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016', 'https://ieeexplore.ieee.org/document/7759321', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Proprioceptive control of an over-actuated hexapod robot in unstructured terrain [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2016.7759321\"\n     onclick=\"log_download('bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016', 'http://doi.org/10.1109/IROS.2016.7759321', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n  &nbsp;\n  <a class=\"bibbase_abstract_link bibbase link\"\n     href=\"#\"\n     onclick=\"showAbstract(event); return false;\">\n    abstract <i class=\"fa fa-caret-down\"></i></a>\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>8 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-kottege-beckerle-proprioceptivecontrolofanoveractuatedhexapodrobotinunstructuredterrain-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n  \n  \n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@inproceedings{bjelonic2016proprioceptive,\n  author    = {Bjelonic, Marko and\n               Kottege, Navinda and\n               Beckerle, Philipp},\n  title     = {Proprioceptive control of an over-actuated hexapod robot in\n               unstructured terrain},\n  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and\n               Systems (IROS)},\n  year      = {2016},\n  pages     = {2042--2049},\n  doi       = {10.1109/IROS.2016.7759321},\n  abstract  = {Legged robots such as hexapods have the potential to traverse\n              unstructured terrain. This paper introduces a novel hexapod robot\n              (Weaver) using a hierarchical controller, with the ability to\n              efficiently traverse uneven and inclined terrain. The robot has\n              five joints per leg and 30 degrees of freedom overall. The two\n              redundant joints improve the locomotion of the robot by\n              controlling the body pose and the leg orientation with respect to\n              the ground. The impedance controller in Cartesian space reacts to\n              unstructured terrain and thus achieves self-stabilizing behavior\n              without prior profiling of the terrain through exteroceptive\n              sensing. Instead of adding force sensors, the force at the foot\n              tip is calculated by processing the current signals of the\n              actuators. This work experimentally evaluates Weaver with the\n              proposed controller and demonstrates that it can effectively\n              traverse challenging terrains and high gradient slopes, reduce\n              angular movements of the body by more than 55{\\%} and reduce the cost\n              of transport (up to 50{\\%} on uneven terrain and by 85% on a slope\n              with 20 °). The controller also enables Weaver to walk up\n              inclines of up to 30 °, and remain statically stable on inclines\n              up to 50 °. Furthermore, we present a new metric for legged robot\n              stability performance along with a method for proprioceptive\n              terrain characterization.},\n  keywords  = {legged locomotion, impedance control},\n  url_pdf   = {files/2016_iros_bjelonic.pdf},\n  url_video = {https://youtu.be/OxOMmovPpdI},\n  url_link  = {https://ieeexplore.ieee.org/document/7759321},\n}\n\n</pre>\n</div>\n\n\n<div class=\"well well-small bibbase\" data-type=\"abstract\"\n     style=\"display:none\">\n  Legged robots such as hexapods have the potential to traverse unstructured terrain. This paper introduces a novel hexapod robot (Weaver) using a hierarchical controller, with the ability to efficiently traverse uneven and inclined terrain. The robot has five joints per leg and 30 degrees of freedom overall. The two redundant joints improve the locomotion of the robot by controlling the body pose and the leg orientation with respect to the ground. The impedance controller in Cartesian space reacts to unstructured terrain and thus achieves self-stabilizing behavior without prior profiling of the terrain through exteroceptive sensing. Instead of adding force sensors, the force at the foot tip is calculated by processing the current signals of the actuators. This work experimentally evaluates Weaver with the proposed controller and demonstrates that it can effectively traverse challenging terrains and high gradient slopes, reduce angular movements of the body by more than 55% and reduce the cost of transport (up to 50% on uneven terrain and by 85% on a slope with 20 °). The controller also enables Weaver to walk up inclines of up to 30 °, and remain statically stable on inclines up to 50 °. Furthermore, we present a new metric for legged robot stability performance along with a method for proprioceptive terrain characterization.\n</div>\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"bjelonic-yolorosrealtimeobjectdetectionforros-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"https://github.com/leggedrobotics/darknet_ros\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'bjelonic-yolorosrealtimeobjectdetectionforros-2016', 'https://github.com/leggedrobotics/darknet_ros', event);\">\n    YOLO ROS: Real-Time Object Detection for ROS.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://www.markobjelonic.com/publications/\">Bjelonic, M.</a>\n</span>\n\n  \n\n</span>\n\n  https://github.com/leggedrobotics/darknet_ros,  2016.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"https://github.com/leggedrobotics/darknet_ros\"\n     onclick=\"log_download('bjelonic-yolorosrealtimeobjectdetectionforros-2016', 'https://github.com/leggedrobotics/darknet_ros', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"YOLO ROS: Real-Time Object Detection for ROS [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/bjelonic-yolorosrealtimeobjectdetectionforros-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>4 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('bjelonic-yolorosrealtimeobjectdetectionforros-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@misc{bjelonicYolo2018,\n  author = {Bjelonic, Marko},\n  title = {{YOLO ROS}: Real-Time Object Detection for {ROS}},\n  howpublished = {{https://github.com/leggedrobotics/darknet_ros}},\n  year = {2016},\n  url_link = {https://github.com/leggedrobotics/darknet_ros},\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);