Marco Hutter

Marco Hutter's AcademicInfluence.com Rankings

Marco Hutter

Engineering

#6599

World Rank

#7935

Historical Rank

Robotics

#148

World Rank

#150

Historical Rank

engineering Degrees

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Engineering

Marco Hutter's Degrees

PhD Robotics ETH Zurich
Masters Mechanical Engineering ETH Zurich
Bachelors Mechanical Engineering ETH Zurich

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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:

ETH Zurich