Marco Hutter


Last Name

Hutter

First Name

Marco

ORCID

0000-0002-4285-4990

Organisational unit

09570 - Hutter, Marco / Hutter, Marco

Search Results

Publications 1 - 10 of 370
  • Performing Activities of Daily Living with a Fully Actuated 9-DOF Shoulder and Arm Exoskeleton
    Item type: Other Conference Item
    Zimmermann, Yves; Hutter, Marco (2022)
    We developed a fully actuated exoskeleton that covered all nine relevant degrees of freedom of the human arm while providing enough range of motion, speed, strength, and haptic-rendering function to provide meaningful neurorehabilitation therapy to severely and mildly affected patients. The unique kinematic structure of the robot and the large impedance bandwidth of haptic rendering allowed training for most activities of daily living with real or virtual objects. Thus, next to neurorehabilitation, this robot could find an application in testing different actuation and control methods (e.g., actuation synergies) for evaluation of portable assistive robot concepts. Further, potential application fields are in telemanipulation, and as a haptic-device for entertainment applications.
  • Coverage Path Planning for Legged Robots in Unknown Environments
    Item type: Conference Paper
    Jia, Dan; Wermelinger, Martin; Diethelm, Remo; et al. (2016)
    Proceedings of the 14th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
  • End-Effector Pose Estimation and Control for 3D Printing with Articulated Excavators
    Item type: Conference Paper
    Malczyk, Grzegorz; Hutter, Marco (2023)
    2023 21st International Conference on Advanced Robotics (ICAR)
    We introduce a novel large-scale autonomous mobile manipulator system based on an instrumented and automated construction machine for precise on-site sensing and fabrication. The system is based on an automated hydraulic walking excavator equipped with IMUs and LiDAR units. In this work, we develop the technology to precisely map, localize, and move the printhead in the environment. By fusing GNSS localization with kinematic sensing of the mobile machine and end-effector, we get a globally consistent and locally accurate positioning for in situ robotic construction printing process. Moreover, we present a control approach that enables the excavator to move the end-effector precisely along predefined trajectories. We evaluate the performance of the proposed system in a variety of real-world tests in the field and analyze different sensor modalities and arrangements. Finally, we discuss the potential applications, including the fabrication of non-standard architectural forms and increased safety.
  • Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization
    Item type: Journal Article
    Winkler, Alexander W.; Bellicoso, C. Dario; Hutter, Marco; et al. (2018)
    IEEE Robotics and Automation Letters
    We present a single Trajectory Optimization for- mulation for legged locomotion that automatically determines the gait-sequence, step-timings, footholds, swing-leg motions and 6D body motion over non-flat terrain, without any additional modules. Our phase-based parameterization of feet motion and forces allows to optimize over the discrete gait sequence using only continuous decision variables. The system is represented using a simplified Centroidal dynamics model that is influenced by the feet’s location and forces. We explicitly enforce friction cone constraints, depending on the shape of the terrain. The NLP solver generates highly dynamic motion-plans with full flight-phases for a variety of legged systems with arbitrary morphologies in an efficient manner. We validate the feasibility of the generated plans in simulation and on the real quadruped robot ANYmal. Additionally, the entire solver software TOWR used to generate these motions is made freely available.
  • Automation in Construction
    Item type: Presentation
    Hutter, Marco (2019)
  • Quadrupedal Robots with Stiff and Compliant Actuation
    Item type: Journal Article
    Remy, C. David; Hutter, Marco; Hoepflinger, Mark; et al. (2012)
    at - Automatisierungstechnik
  • IBEX - A Tele-operation and Training Device for Walking Excavators
    Item type: Conference Paper
    Hutter, Marco; Braungardt, Thomas; Grigis, Fabian; et al. (2016)
    Proceedings of the 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
  • Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots
    Item type: Conference Paper
    Nubert, Julian; Khattak, Shehryar Masaud Khan; Hutter, Marco (2022)
    2022 International Conference on Robotics and Automation (ICRA)
    Enabling autonomous operation of large-scale construction machines, such as excavators, can bring key benefits for human safety and operational opportunities for applications in dangerous and hazardous environments. To facilitate robot autonomy, robust and accurate state-estimation remains a core component to enable these machines for operation in a diverse set of complex environments. In this work, a method for multi-modal sensor fusion for robot state-estimation and localization is presented, enabling operation of construction robots in real-world scenarios. The proposed approach presents a graph-based prediction-update loop that combines the benefits of filtering and smoothing in order to provide consistent state estimates at high update rate, while maintaining accurate global localization for large-scale earth-moving excavators. Furthermore, the proposed approach enables a flexible integration of asynchronous sensor measurements and provides consistent pose estimates even during phases of sensor dropout. For this purpose, a dual-graph design for switching between two distinct optimization problems is proposed, directly addressing temporary failure and the subsequent return of global position estimates. The proposed approach is implemented on-board two Menzi Muck walking excavators and validated during real-world tests conducted in representative operational environments.
  • ParcelBot
    Item type: Conference Paper
    Hoepflinger, Mark H.; Baschung, David; Remy, C. D.; et al. (2012)
  • A Fully-Integrated Sensing and Control System for High-Accuracy Mobile Robotic Building Construction
    Item type: Conference Paper
    Gawel, Abel Roman; Blum, Hermann; Pankert, Johannes; et al. (2019)
    2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing capabilities for state estimation, tight integration with digital building models, and integrated trajectory planning and whole-body motion control. A novel method for high-accuracy localization updates relative to the known building structure is proposed. The approach is implemented on a real platform and tested under realistic construction conditions. We show that the system can achieve sub-cm end-effector positioning accuracy during fully autonomous operation using solely on-board sensing.
Publications 1 - 10 of 370