Marco Hutter
#157,046
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Swiss roboticist
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Marco Hutterengineering Degrees
Engineering
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Robotics
#148
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#150
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Engineering
Marco Hutter's Degrees
- PhD Robotics ETH Zurich
- Masters Mechanical Engineering ETH Zurich
- Bachelors Mechanical Engineering ETH Zurich
Why Is Marco Hutter Influential?
(Suggest an Edit or Addition)Marco Hutter's Published Works
Number of citations in a given year to any of this author's works
Total number of citations to an author for the works they published in a given year. This highlights publication of the most important work(s) by the author
Published Works
- Learning agile and dynamic motor skills for legged robots (2019) (713)
- Robust visual inertial odometry using a direct EKF-based approach (2015) (632)
- ANYmal - a highly mobile and dynamic quadrupedal robot (2016) (514)
- Learning quadrupedal locomotion over challenging terrain (2020) (430)
- Control of a Quadrotor With Reinforcement Learning (2017) (340)
- Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback (2017) (296)
- Starleth: A compliant quadrupedal robot for fast, efficient, and versatile locomotion (2012) (287)
- Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization (2018) (285)
- Kinect v2 for mobile robot navigation: Evaluation and modeling (2015) (234)
- ANYmal - toward legged robots for harsh environments (2017) (173)
- State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU (2012) (169)
- A Universal Grid Map Library: Implementation and Use Case for Rough Terrain Navigation (2016) (166)
- Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds (2017) (161)
- Control of dynamic gaits for a quadrupedal robot (2013) (159)
- Learning robust perceptive locomotion for quadrupedal robots in the wild (2022) (154)
- The current state and future outlook of rescue robotics (2019) (146)
- ROBOT-CENTRIC ELEVATION MAPPING WITH UNCERTAINTY ESTIMATES (2014) (136)
- Navigation planning for legged robots in challenging terrain (2016) (134)
- Probabilistic Terrain Mapping for Mobile Robots With Uncertain Localization (2018) (133)
- Robust Rough-Terrain Locomotion with a Quadrupedal Robot (2018) (130)
- Quadrupedal locomotion using hierarchical operational space control (2014) (122)
- Dynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots (2018) (122)
- Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning (2021) (119)
- Toward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped (2014) (118)
- Per-Contact Iteration Method for Solving Contact Dynamics (2018) (116)
- ScarlETH: Design and control of a planar running robot (2011) (116)
- DeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning (2019) (108)
- Haptic terrain classification for legged robots (2010) (106)
- Practice Makes Perfect: An Optimization-Based Approach to Controlling Agile Motions for a Quadruped Robot (2016) (101)
- State estimation for legged robots on unstable and slippery terrain (2013) (97)
- Efficient and Versatile Locomotion With Highly Compliant Legs (2013) (97)
- Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning (2019) (95)
- Perception-less terrain adaptation through whole body control and hierarchical optimization (2016) (95)
- SLIP running with an articulated robotic leg (2010) (86)
- Robotic Fabrication in Architecture, Art and Design 2018 (2018) (85)
- Feedback MPC for Torque-Controlled Legged Robots (2019) (85)
- Advances in real‐world applications for legged robots (2018) (84)
- Data-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm (2019) (79)
- Graph‐based subterranean exploration path planning using aerial and legged robots (2020) (78)
- Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots (2018) (71)
- Hybrid Operational Space Control for Compliant Legged Systems (2012) (69)
- Dynamic locomotion and whole-body control for quadrupedal robots (2017) (68)
- A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation (2021) (64)
- High compliant series elastic actuation for the robotic leg scarleth (2011) (64)
- Dynamic trotting on slopes for quadrupedal robots (2015) (62)
- StarlETH & Co.: Design and control of legged robots with compliant actuation (2013) (55)
- CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge (2022) (55)
- A Primer on the Differential Calculus of 3D Orientations (2016) (52)
- Perceptive Locomotion in Rough Terrain – Online Foothold Optimization (2020) (51)
- Autonomous robotic stone stacking with online next best object target pose planning (2017) (51)
- Planning and Control for Autonomous Excavation (2017) (50)
- ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot (2019) (49)
- Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning (2019) (47)
- Optimized Continuous Collision Detection for Deformable Triangle Meshes (2007) (47)
- Trajectory Optimization With Implicit Hard Contacts (2018) (46)
- Robust Visual Place Recognition with Graph Kernels (2016) (46)
- Conference Presentation Slides on Kinect v2 for Mobile Robot Navigation: Evaluation and Modeling (2015) (45)
- Whole-Body MPC for a Dynamically Stable Mobile Manipulator (2019) (44)
- Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Using Linearized ZMP Constraints (2019) (42)
- Rolling in the Deep – Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization (2019) (38)
- Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics (2016) (38)
- Towards automatic discovery of agile gaits for quadrupedal robots (2014) (38)
- SpaceBok: A Dynamic Legged Robot for Space Exploration (2019) (38)
- Collaborative navigation for flying and walking robots (2016) (37)
- Autonomous Free-Form Trenching Using a Walking Excavator (2019) (37)
- Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces (2019) (36)
- Modeling assembled-MEMS microrobots for wireless magnetic control (2008) (36)
- Adaptive pulsed laser line extraction for terrain reconstruction using a dynamic vision sensor (2014) (36)
- ANYmal: A Unique Quadruped Robot Conquering Harsh Environments (2018) (35)
- Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control (2020) (34)
- MPC-Net: A First Principles Guided Policy Search (2019) (34)
- The Two-State Implicit Filter Recursive Estimation for Mobile Robots (2018) (34)
- Dynamic Locomotion on Slippery Ground (2019) (33)
- ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot (2019) (33)
- Reinforcement learning of single legged locomotion (2013) (32)
- Collaborative localization of aerial and ground robots through elevation maps (2016) (32)
- WALKING AND CRAWLING WITH ALoF - A ROBOT FOR AUTONOMOUS LOCOMOTION ON FOUR LEGS (2010) (31)
- Haptic Inspection of Planetary Soils With Legged Robots (2019) (31)
- Design of an articulated robotic leg with nonlinear series elastic actuation (2009) (31)
- Safe Robot Navigation Via Multi-Modal Anomaly Detection (2020) (30)
- CERBERUS in the DARPA Subterranean Challenge (2022) (30)
- Free Gait — An architecture for the versatile control of legged robots (2016) (30)
- ANYpulator: Design and control of a safe robotic arm (2016) (29)
- Deep Value Model Predictive Control (2019) (28)
- Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulation (2021) (28)
- A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction (2019) (28)
- Trajectory Optimization for Legged Robots With Slipping Motions (2019) (27)
- Frequency-Aware Model Predictive Control (2018) (27)
- Learning a State Representation and Navigation in Cluttered and Dynamic Environments (2021) (26)
- Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation (2019) (26)
- Fusion of optical flow and inertial measurements for robust egomotion estimation (2014) (26)
- Unsupervised identification and prediction of foothold robustness (2013) (26)
- Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain (2020) (25)
- Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs (2020) (24)
- Perceptive Model Predictive Control for Continuous Mobile Manipulation (2020) (24)
- Towards a Generic Solution for Inspection of Industrial Sites (2017) (24)
- Force Control for Active Chassis Balancing (2017) (23)
- Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning (2021) (23)
- Perceptive whole‐body planning for multilegged robots in confined spaces (2020) (22)
- Practical Reinforcement Learning For MPC: Learning from sparse objectives in under an hour on a real robot (2020) (22)
- Towards autonomous inspection of concrete deterioration in sewers with legged robots (2020) (22)
- Deployment of an autonomous mobile manipulator at MBZIRC (2018) (22)
- ANYmal in the Field: Solving Industrial Inspection of an Offshore HVDC Platform with a Quadrupedal Robot (2019) (21)
- Why Should Inspection Robots be used in Deep Underground Mines? (2019) (21)
- Towards Jumping Locomotion for Quadruped Robots on the Moon (2019) (20)
- Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions (2020) (20)
- Towards RL-Based Hydraulic Excavator Automation (2020) (19)
- Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots (2021) (19)
- What am I touching? Learning to classify terrain via haptic sensing (2019) (18)
- Whole-Body MPC and Online Gait Sequence Generation for Wheeled-Legged Robots (2020) (18)
- Present and Future of SLAM in Extreme Underground Environments (2022) (18)
- Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots (2018) (18)
- An Adaptive Landing Gear for Extending the Operational Range of Helicopters (2018) (17)
- Quadrupedal Robots with Stiff and Compliant Actuation (2012) (17)
- Collision-Free MPC for Legged Robots in Static and Dynamic Scenes (2021) (17)
- Towards optimal force distribution for walking excavators (2015) (16)
- Real-time Optimal Navigation Planning Using Learned Motion Costs (2021) (16)
- Augmented bricklaying (2020) (16)
- Self-supervised Learning of LiDAR Odometry for Robotic Applications (2020) (16)
- Vitruvio: An Open-Source Leg Design Optimization Toolbox for Walking Robots (2020) (16)
- Passive dynamic walking with quadrupeds - Extensions towards 3D (2010) (15)
- HAPTIC TERRAIN CLASSIFICATION ON NATURAL TERRAINS FOR LEGGED ROBOTS (2010) (15)
- Towards automating construction tasks: Large‐scale object mapping, segmentation, and manipulation (2020) (14)
- Quadrupedal Locomotion on Uneven Terrain With Sensorized Feet (2020) (14)
- Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators (2022) (13)
- Cable-Driven Actuation for Highly Dynamic Robotic Systems (2018) (13)
- The quadruped ALoF and a step towards real world haptic terrain classification (2010) (13)
- Autonomous dry stone (2020) (13)
- Advanced Skills through Multiple Adversarial Motion Priors in Reinforcement Learning (2022) (13)
- Locomotion Planning through a Hybrid Bayesian Trajectory Optimization (2019) (13)
- Walking and Running with StarlETH (2013) (13)
- Foot Contact Estimation for Legged Robots in Rough Terrain (2016) (13)
- Legged and Flying Robots for Disaster Response (2015) (12)
- Whole-Body Motion Planning for Walking Excavators (2019) (12)
- Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning (2021) (12)
- Imitation Learning from MPC for Quadrupedal Multi-Gait Control (2021) (11)
- Real-Time Dance Generation to Music for a Legged Robot (2018) (11)
- Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks (2021) (11)
- HEAP - The autonomous walking excavator (2021) (11)
- Perceptive Locomotion through Nonlinear Model Predictive Control (2022) (11)
- TAMOLS: Terrain-Aware Motion Optimization for Legged Systems (2022) (11)
- Towards Dynamic Transparency: Robust Interaction Force Tracking Using Multi-Sensory Control on an Arm Exoskeleton (2020) (11)
- A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation (2022) (11)
- Skating with a Force Controlled Quadrupedal Robot (2018) (11)
- Life Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots (2017) (10)
- Kinematic batch calibration for legged robots (2013) (10)
- Efficient Gait Selection for Quadrupedal Robots on the Moon and Mars (2018) (9)
- Offline motion libraries and online MPC for advanced mobility skills (2022) (9)
- Adaptive CLF-MPC With Application to Quadrupedal Robots (2021) (9)
- Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned (2022) (9)
- Support Surface Estimation for Legged Robots (2019) (9)
- Coverage path planning for legged robots in unknown environments (2016) (9)
- Constraint Handling in Continuous-Time DDP-Based Model Predictive Control (2021) (9)
- Walking and crawling with ALoF: a robot for autonomous locomotion on four legs (2011) (9)
- Quadrupedal locomotion using trajectory optimization and hierarchical whole body control (2017) (9)
- Elevation Mapping for Locomotion and Navigation using GPU (2022) (9)
- Scalability Analysis of Legged Robots for Space Exploration (2018) (8)
- State Estimation for Legged Robots (2012) (8)
- Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control (2014) (8)
- A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning (2022) (8)
- An Optimization Approach to Controlling Jump Maneuvers for a Quadrupedal Robot (2015) (8)
- Robotic Landscapes: Developing Computational Design Tools Towards Autonomous Terrain Modeling (2017) (7)
- Adaptive Feet for Quadrupedal Walkers (2022) (7)
- Autonomous Mission with a Mobile Manipulator - A Solution to the MBZIRC (2017) (7)
- Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots (2019) (7)
- Terrain-Adaptive Planning and Control of Complex Motions for Walking Excavators (2020) (7)
- Collaborative Robot Mapping using Spectral Graph Analysis (2022) (7)
- Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots (2022) (7)
- IEKF-based Visual-Inertial Odometry using Direct Photometric Feedback (2017) (6)
- Foot-Eye Calibration of Legged Robot Kinematics (2016) (6)
- Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation (2021) (6)
- Direct state-to-action mapping for high DOF robots using ELM (2015) (6)
- Adaptive control strategies for open-loop dynamic hopping (2009) (6)
- Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot (2021) (6)
- TOWARDS WALKING ON MARS (2011) (6)
- Locomotion Policy Guided Traversability Learning using Volumetric Representations of Complex Environments (2022) (5)
- Passivity-based control for haptic teleoperation of a legged manipulator in presence of time-delays (2021) (5)
- Grasping and Object Reorientation for Autonomous Construction of Stone Structures (2021) (5)
- An Optimization-based Approach to Controlling Agile Motions for a Quadruped Robot (2016) (5)
- Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots (2021) (5)
- Improved Efficiency in Legged Running Using Lightweight Passive Compliant Feet (2012) (5)
- Technical Implementations of the Sense of Balance (2018) (5)
- Extrinsic RGB-D camera calibration for legged robots (2011) (5)
- Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning (2021) (5)
- Full State Control of a SLIP Model by Touchdown Detection (2010) (4)
- Safe Self-collision Avoidance for Versatile Robots Based on Bounded Potentials (2017) (4)
- Hybrid Operational Space Control for Compliant Quadruped Robots (2012) (4)
- An Anthropomorphic Robust Robotic Torso for Ventral/Dorsal and Lateral Motion With Weight Compensation (2020) (4)
- IBEX — A tele-operation and training device for walking excavators (2016) (4)
- Neural Scene Representation for Locomotion on Structured Terrain (2022) (4)
- Advanced Skills by Learning Locomotion and Local Navigation End-to-End (2022) (3)
- PyPose: A Library for Robot Learning with Physics-based Optimization (2022) (3)
- Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester (2021) (3)
- Soil-Adaptive Excavation Using Reinforcement Learning (2022) (3)
- ANYmal at the ARGOS Challenge: Tools and Experiences from the Autonomous Inspection of Oil & Gas Sites with a Legged Robot (2016) (3)
- Learning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators (2023) (3)
- Meta Reinforcement Learning for Optimal Design of Legged Robots (2022) (3)
- Constrained stochastic optimal control with learned importance sampling: A path integral approach (2021) (3)
- Robotic embankment (2021) (3)
- Greedy Stone Tower Creations with a Robotic Arm (2018) (3)
- HAPTIC FOOTHOLD SUITABILITY IDENTIFICATION AND PREDICTION FOR LEGGED ROBOTS (2014) (3)
- ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments (2023) (3)
- A Reconfigurable Leg for Walking Robots (2022) (2)
- Learning-based Localizability Estimation for Robust LiDAR Localization (2022) (2)
- Dynamic simulation of legged robots using a physics engine (2014) (2)
- Mesh Partitioning for Parallel Garment Simulation (2014) (2)
- Planar Bipedal Locomotion with Nonlinear Model Predictive Control: Online Gait Generation using Whole-Body Dynamics (2022) (2)
- Simulation-Based Climbing Capability Analysis for Quadrupedal Robots (2021) (2)
- CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System (2020) (2)
- Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments (2022) (2)
- Towards Autonomous Robotic Precision Harvesting (2021) (2)
- AGILITY - Dynamic full body locomotion and manipulation with autonomous legged robots (2013) (2)
- Multi-Task Inverse Dynamcis based on LS-Optimization (2013) (2)
- Collision detection and identification for a legged manipulator (2022) (2)
- Trajectory Optimization for Wheeled Quadrupedal Robots Driving in Challenging Terrain (2019) (1)
- A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement (2022) (1)
- Physical Human-Robot Interaction with Real Active Surfaces using Haptic Rendering on Point Clouds (2020) (1)
- Magnetically Levitated Linear Drive Using an Active Gravity Compensation Based on Hybrid Shape Memory Actuators (2020) (1)
- ParcelBot: A Tracked Parcel Transporter with High Obstacle Negotiation Capabilities (2012) (1)
- Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators (2023) (1)
- ArtPlanner: Robust Legged Robot Navigation in the Field (2023) (1)
- Whole-Body MPC and Dynamic Occlusion Avoidance: A Maximum Likelihood Visibility Approach (2022) (1)
- Reinforcement Learning of Robotic Legged Locomotion (2011) (1)
- Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain (2022) (1)
- Bayesian Multi-Task Learning MPC for Robotic Mobile Manipulation (2022) (1)
- Supporting and Stabilizing the Scapulohumeral Rhythm With a Body- or Robot-Powered Orthosis (2022) (0)
- IEEE/RSJ International Conference on Intelligent Robots and Systems Award Recipients Announced [Society News] (2019) (0)
- Haptic Teleoperation of High-dimensional Robotic Systems Using a Feedback MPC Framework (2022) (0)
- Human–Robot Attachment System for Exoskeletons: Design and Performance Analysis (2023) (0)
- MPC-feedback Trajectory Optimization for Wheeled-legged Robots (2020) (0)
- ANYexo 2.0: A Fully Actuated Upper-Limb Exoskeleton for Manipulation and Joint-Oriented Training in All Stages of Rehabilitation (2023) (0)
- Multi-Modal Anomaly Navigation (ANNA) (2019) (0)
- Whole-Body Kinematic Model Predictive Control for Continuous Mobile Manipulation Tasks (2010) (0)
- Optimizing actuator design for prosthetic hands (2013) (0)
- Design and Motion Planning for a Reconfigurable Robotic Base (2022) (0)
- Harveri : A Small (Semi-)Autonomous Precision Tree Harvester (2022) (0)
- 3D Surfel Map-Aided Visual Relocalization with Learned Descriptors (2021) (0)
- Aarhus School of Architecture // Design School Kolding // Royal Danish Academy SCRIM – Sparse Concrete Reinforcement in Meshworks (2018) (0)
- Solving Occlusion in Terrain Mapping with Neural Networks (2021) (0)
- Deep Measurement Updates for Bayes Filters (2021) (0)
- A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets (2022) (0)
- Traction Control Concepts for a Walking Excavator Autumn Term 2015 (2015) (0)
- Learning to Walk over Structured Terrains by Imitating MPC (2021) (0)
- Event-based Agile Object Catching with a Quadrupedal Robot (2023) (0)
- Consistent Fusion of Leg Kinematics and Inertial Measurements for State Estimation of Legged Robots (2012) (0)
- ETH Library Haptic Terrain Classification for Legged Robots (2010) (0)
- Special Issue on Field and Service Robotics (FSR) 2017 (2018) (0)
- Control of Wheeled-Legged Quadrupeds Using Deep Reinforcement Learning (2022) (0)
- Kinematic Calibration and Sensor Fusion for Legged Robots (2013) (0)
- iPlanner: Imperative Path Planning (2023) (0)
- A Survey of Wheeled-Legged Robots (2022) (0)
- Sewer Terrain Inspection Knowledge (STINK): Dataset (2019) (0)
- LiDAR-guided object search and detection in Subterranean Environments (2022) (0)
- Automation in Construction (2019) (0)
- Dynamic Trotting on Inclined Terrain for Quadrupedal Robots (2015) (0)
- Robust damping of a ropeway gondola's wind oscillations with an actuated mass (2017) (0)
- Contour Based Grasp Synthesis of Unknown Objects with a Humanoid Hand (2021) (0)
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What Schools Are Affiliated With Marco Hutter?
Marco Hutter is affiliated with the following schools: