publications

Safe and Adaptive 3-D Locomotion via Constrained Task-Space Imitation Learning

J. Ding, T. L. Lam, L. Ge, J. Pang and Y. Huang


IEEE/ASME Transactions on Mechatronics

10.1109/TMECH.2023.3239099

Robust Locomotion Exploiting Multiple Balance Strategies: An Observer-Based Cascaded Model Predictive Control Approach

J. Ding, L. Han, L. Ge, Y. Liu and J. Pang


IEEE/ASME Transactions on Mechatronics

10.1109/TMECH.2022.3173805

Assessing An Energy-Based Control for the Soft Inverted Pendulum in Hamiltonian Form

G. Pagnanelli, M. Pierallini, F. Angelini and A. Bicchi


IEEE Control Systems Letters

10.1109/LCSYS.2024.3405410

Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots

JOONHO LEE, MARKO BJELONIC, ALEXANDER RESKE, LORENZ WELLHAUSEN, TAKAHIRO MIKI, AND MARCO HUTTER


Science Robotics Vol. 9

10.1126/scirobotics.adi9641

Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision

Learning to walk in confined spaces using 3D representation

Takahiro Miki, Joonho Lee, Lorenz Wellhausen and Marco Hutter


ICRA 2024

10.48550/arXiv.2403.00187

X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments

T. Tuna, J. Nubert, Y. Nava, S. Khattak and M. Hutter


IEEE Transactions on Robotics

10.1109/TRO.2023.3335691

Seeing Through the Grass: Semantic Pointcloud Filter for Support Surface Learning

A. Li, C. Yang, J. Frey, J. Lee, C. Cadena and M. Hutter


IEEE Robotics and Automation Letters

10.1109/LRA.2023.3320016

Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments

C. Chen, J. Frey, P. Arm and M. Hutter


IEEE Robotics and Automation Letters

10.1109/LRA.2023.3311207

Learning Arm-Assisted Fall Damage Reduction and Recovery for Legged Mobile Manipulators

Y. Ma, F. Farshidian and M. Hutter


2023 IEEE International Conference on Robotics and Automation (ICRA)

10.1109/ICRA48891.2023.10160582

Elevation Mapping for Locomotion and Navigation using GPU

T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger and M. Hutter


2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

10.1109/IROS47612.2022.9981507

Learning-based Localizability Estimation for Robust LiDAR Localization

J. Nubert, E. Walther, S. Khattak and M. Hutter


2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

10.1109/IROS47612.2022.9982257

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems 

F. Jenelten, R. Grandia, F. Farshidian and M. Hutter


IEEE Transactions on Robotics

10.1109/TRO.2022.3186804

Graph-based Multi-sensor Fusion for Consistent Localization of Autonomous Construction Robots

J. Nubert, S. Khattak and M. Hutter


International Conference on Robotics and Automation (ICRA)

10.1109/ICRA46639.2022.9812386

Learning robust perceptive locomotion for quadrupedal robots in the wild

Miki, Takahiro; Lee, Joonho; Hwangbo, Jemin; Wellhausen, Lorenz ; Koltun, Vladlen; Hutter, Marco


Science Robotics 7(62)

10.1126/scirobotics.abk2822

Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning

M. Stölzle, T. Miki, L. Gerdes, M. Azkarate and M. Hutter


IEEE Robotics and Automation Letters

10.1109/LRA.2022.3141662

Robust Jumping With an Articulated Soft Quadruped Via Trajectory Optimization and Iterative Learning

J. Ding, M. A. v. L. Sels, F. Angelini, J. Kober and C. D. Santina


IEEE Robotics and Automation Letters

10.1109/LRA.2023.3331288

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds

A Provably Stable Iterative Learning Controller for Continuum Soft Robots

Pierallini Michele, Stella Francesco, Angelini Franco, Deutschmann Bastian, Hughes Josie, Bicchi Antonio, Garabini Manolo and Cosimo Della Santina


IEEE Robotics and Automation Letters

10.1109/LRA.2023.3307007

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

F. Bjelonic, A. Sachtler, A. Albu-Schäffer and C. D. Santina


IEEE Robotics and Automation Letters

10.1109/LRA.2022.3141156

Model and Control of R-Soft Inverted Pendulum

D. Caradonna, M. Pierallini, C. D. Santina, F. Angelini and A. Bicchi


IEEE Robotics and Automation Letters

10.1109/LRA.2024.3389348

Resilient Legged Local Navigation: Learning to Traverse with Compromised Perception End-to-End

Zhang Chong, Jin Jin, Frey Jonas, Rudin Nikita, Mattamala Aravena Matias Eduardo, Cadena Cesar, Hutter Marco


41st IEEE International Conference on Robotics and Automation (ICRA 2024)

10.3929/ethz-b-000634079

SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments

C. Chen, J. Frey, P. Arm and M. Hutter


IEEE Robotics and Automation Letters

10.1109/LRA.2023.3311207

Minimizing Energy Consumption of Elastic Robots in Repetitive Tasks

A. V. Vivas, A. Cherubini, M. Garabini, P. Salaris and A. Bicchi


IEEE Transactions on Systems

10.1109/TSMC.2023.3260644

Iterative Learning Control for Compliant Underactuated Arms

M. Pierallini, F. Angelini, R. Mengacci, A. Palleschi, A. Bicchi and M. Garabini


IEEE Transactions on Systems

10.1109/TSMC.2023.3234403

Inverse-Dynamics MPC via Nullspace Resolution

C. Mastalli, S. P. Chhatoi, T. Corbéres, S. Tonneau and S. Vijayakuma


IEEE Transactions on Robotics

10.1109/TRO.2023.3262186

EM-Act: A Modular Series Elastic Actuator for Dynamic Robots

R. k. M. Gopanunni, L. Martignetti, F. Iotti, A. Ranjan, F. Angelini and M. Garabini


IEEE Open Journal of the Industrial Electronics Society

10.1109/OJIES.2024.3400052

Optimal Control for Articulated Soft Robots

S. P. Chhatoi, M. Pierallini, F. Angelini, C. Mastalli and M. Garabini


IEEE Transactions on Robotics

10.1109/TRO.2023.3288837

One small step for a robot, one giant leap for habitat monitoring: A structural survey of EU forest habitats with Robotically-mounted Mobile Laser Scanning (RMLS)

Leopoldo de Simone, Emanuele Fanfarillo, Simona Maccherini, Tiberio Fiaschi, Giuseppe Alfonso, Franco Angelini, Manolo Garabini, Claudia Angiolini


Ecological Indicators

10.1016/j.ecolind.2024.111882

Robotic monitoring of dunes: a dataset from the EU habitats 2110 and 2120 in Sardinia (Italy)

Franco Angelini, Mathew J Pollayil, Giovanni Rivieccio, Maria Carmela Caria, Simonetta Bagella, Manolo Garabini


Scientific Data

10.1038/s41597-024-03063-z

Robotic monitoring of Alpine screes: a dataset from the EU Natura2000 habitat 8110 in the Italian Alps

Franco Angelini, Mathew J Pollayil, Barbara Valle, Marina Serena Borgatti, Marco Caccianiga, Manolo Garabini


Scientific Data

10.1038/s41597-023-02764-1

Robotic monitoring of forests: a dataset from the EU habitat 9210* in the Tuscan Apennines (central Italy)

Mathew J Pollayil, Franco Angelini, Leopoldo de Simone, Emanuele Fanfarillo, Tiberio Fiaschi, Simona Maccherini, Claudia Angiolini, Manolo Garabini


Scientific Data

10.1038/s41597-023-02763-2

Robust jumping with an articulated soft quadruped via trajectory optimization and iterative learning

Jiatao Ding, Mees A van Löben Sels, Franco Angelini, Jens Kober, Cosimo Della Santina


IEEE Robotics and Automation Letters

10.1109/LRA.2023.3331288

Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment

Alok Ranjan, Franco Angelini, Thrishantha Nanayakkara, Manolo Garabini


IEEE/ASME Transactions on Mechatronics

10.1109/TMECH.2023.3326602

Segmentation and identification of Mediterranean plant species

Parminder Kaur, Daniela Gigante, Marco Caccianiga, Simonetta Bagella, Claudia Angiolini, Manolo Garabini, Franco Angelini, Paolo Remagnino


International Symposium on Visual Computing

10.1007/978-3-031-47966-3_34

Robotic Monitoring of Habitats: The Natural Intelligence Approach

Franco Angelini, Pierangela Angelini, Claudia Angiolini, Simonetta Bagella, Fabio Bonomo, Marco Caccianiga, Cosimo Della Santina, Daniela Gigante, Marco Hutter, Thrishantha Nanayakkara, Paolo Remagnino, Diego Torricelli, Manolo Garabini


IEEE Access

10.1109/ACCESS.2023.3294276

Robotic monitoring of grasslands: a dataset from the EU Natura2000 habitat 6210* in the central Apennines (Italy)


Choosing stiffness and damping for optimal impedance planning

Mathew Jose Pollayil, Franco Angelini, Guiyang Xin, Michael Mistry, Sethu Vijayakumar, Antonio Bicchi, Manolo Garabini


IEEE Transactions on Robotics

10.1109/TRO.2022.3216078

Towards the Computational Assessment of the Conservation Status of a Habitat

Legged locomotion over irregular terrains: State of the art of human and robot performance

Adriana Torres-Pardo, David Pinto-Fernández, Manolo Garabini, Franco Angelini, David Rodriguez-Cianca, Stefano Massardi, Jesús Tornero, Juan C Moreno, Diego Torricelli

Bioinspiration & Biomimetics

10.1088/1748-3190/ac92b3

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

F Bjelonic, A Sachtler, A Albu-Schäffer, & C Della Santina

IEEE Robotics and Automation Letters

10.1109/lra.2022.3141156

A Tapered Whisker-Based Physical Reservoir Computing System for Mobile Robot Terrain Identification in Unstructured Environments

Z Yu, S Perera, H Hauser, PRN Childs, & T Nanayakkara

IEEE Robotics and Automation Letters

10.1109/lra.2022.3146602

A Semi-Supervised Reservoir Computing System Based on Tapered Whisker for Mobile Robot Terrain Identification and Roughness Estimation

Z Yu, SM Hadi Sadati, H Hauser, PRN Childs, and T Nanayakkara

IEEE Robotics and Automation Letters

10.1109/lra.2022.3159859

Planning Natural Locomotion for Articulated Soft Quadrupeds

MJ Pollayil, C Della Santina, G Mesesan, J Englsberger, D Seidel, M Garabini, C Ott, A Bicchi, & A Albu-Schaffer

2022 International Conference on Robotics and Automation (ICRA)

10.1109/icra46639.2022.9812416

Swing-Up of Underactuated Compliant Arms Via Iterative Learning Control

M Pierallini, F Angelini, A Bicchi, & M Garabini

 IEEE Robotics and Automation Letters

10.1109/LRA.2022.3144786

Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning

L Wellhausen, & M Hutter

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)

https://doi.org/10.3929/ethz-b-000507668

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

C Della Santina, D Lakatos, A Bicchi, & A Albu-Schäffer

IEEE Control and Decision Conference (CDC21) 

10.1109/CDC45484.2021.9683228

Natural Intelligence for Robotic Monitoring of Annex I Habitats: first steps in an unexplored world

D Gigante, F Angelini, C Angiolini, S Bagella, F Bonini, M Caccianiga, L De Simone, A Gabellini, G Rivieccio, B Valle, & M Garabini

In Debinski E, Diekmann M, Loidi J, Wiser S, Zelený D (Eds.) Book of Abstracts: 76. 63rd IAVS Symposium, Sept 20-23, 2021. International Association for Vegetation Science

A New Challenge From Artificial Intelligence: Robotic European Union Habitats Monitoring

S Bagella, F Angelini, C Angiolini, F Bonini, M Caccianiga, L De Simone, A Gabellini, D Gigante, S Maccherini, G Rivieccio, B Valle,  & M Garabini

"Twenty years in the third millennium with Vegetation Science” 54th International Congress SISV, 28 and 29 September 2021

Towards Robotic Environmental Monitoring

F Angelini, R Mengacci, & M Garabini

I-RIM 3D (2021)
10.5281/zenodo.5900597

Controllability for Underactuated Compliant Arms

M Pierallini, F Angelini, & M Garabini

I-RIM 3D (2021)

10.5281/zenodo.5900595

Trajectory Tracking for Articulated Soft Robots: an Iterative Learning Control Approach

F Angelini, R Mengacci, M Pierallini, C Della Santina, MG Catalano, G Grioli, M Garabini, & A Bicchi

I-RIM 3D (2021)

10.5281/zenodo.5900593

Iterative Learning in Functional Space for Non-Square Linear Systems

C Della Santina, & F Angelini

IEEE Conference on Decision and Control (2021)

10.1109/CDC45484.2021.9683673

A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems with Disturbances

M Pierallini, F Angelini, R Mengacci, A Palleschi, A Bicchi, & M Garabini

IEEE Access, (2021), 9, 147471-147480.

https://doi.org/10.1109/ACCESS.2021.3124014

Adaptive Feet for Quadrupedal Walkers

MG Catalano, MJ Pollayil, G Grioli, G Valsecchi, H Kolvenbach, M Hutter, A Bicchi, & M Garabini

Transactions on Robotics (2021)

https://doi.org/10.1109/TRO.2021.3088060

An Open-Source ROS-Gazebo Toolbox for Simulating Robots with Compliant Actuators

R Mengacci, G Zambella, G Grioli, D Caporale, MG Catalano, & A Bicchi

Frontiers in Robotics and AI (2021), 246

https://doi.org/10.3389/frobt.2021.713083

Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion

G Xin, S Xin, O Cebe, MJ Pollayil, F Angelini, M Garabini, S Vijayakumar, & M Mistry

IEEE Robotics and Automation Letters

https://doi.org/10.1109/LRA.2021.3068695

Efficient and Goal-Directed Oscillations in Articulated Soft Robots: The Point-To-Point Case

LB Bonacchi, MA Roa, A Sesselmann, F Loeffl, A Albu-Schäffer, & C Della Santina

IEEE Robotics and Automation Letters, (2021), 6 (2), 2555-2562

https://doi.org/10.1109/LRA.2021.3061345

Actuating Eigenmanifolds of Conservative Mechanical Systems via Bounded or Impulsive Control Actions

C Della Santina, D Calzolari, AM Giordano, & A Albu-Schäffer

IEEE Robotics and Automation Letters, (2021), 6(2), 2783-2790.

https://doi.org/10.1109/LRA.2021.3061391

PI σ-PI σ Continuous Iterative Learning Control for Nonlinear Systems with Arbitrary Relative Degree

L Cenceschi, F Angelini, C Della Santina, & A Bicchi

IEEE European Control Conference (2021)

10.23919/ECC54610.2021.9655196