116 citations · 176 across the 11 of their papers we have counts for
12 papers
MOSAIC: Modular Scalable Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
David Oberacker, Julia Richter, Philip Arm +10
Mobile robots have become indispensable for exploring hostile environments, such as in space or disaster relief scenarios, but often remain limited to teleoperation by a human oper…
A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests
Julia Richter, David Oberacker, Gabriela Ligeza +10
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and hars…
Efficient Learning-Based Control of a Legged Robot in Lunar Gravity
Philip Arm, Oliver Fischer, Joseph Church +3
Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured…
Magnecko: Design and Control of a Quadrupedal Magnetic Climbing Robot
Stefan Leuthard, Timo Eugster, Nicolas Faesch +12
Climbing robots hold significant promise for applications such as industrial inspection and maintenance, particularly in hazardous or hard-to-reach environments. This paper describ…
Perceptive Pedipulation with Local Obstacle Avoidance
Jonas Stolle, Philip Arm, Mayank Mittal +1
Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specif…
SpaceHopper: A Small-Scale Legged Robot for Exploring Low-Gravity Celestial Bodies
Alexander Spiridonov, Fabio Buehler, Moriz Berclaz +12
We present SpaceHopper, a three-legged, small-scale robot designed for future mobile exploration of asteroids and moons. The robot weighs 5.2kg and has a body size of 245mm while u…
Pedipulate: Enabling Manipulation Skills using a Quadruped Robot's Leg
Philip Arm, Mayank Mittal, Hendrik Kolvenbach +1
Legged robots have the potential to become vital in maintenance, home support, and exploration scenarios. In order to interact with and manipulate their environments, most legged r…
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Philip Arm, Gabriel Waibel, Jan Preisig +8
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-th…
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments
Changan Chen, Jonas Frey, Philip Arm +1
Robotic exploration or monitoring missions require mobile robots to autonomously and safely navigate between multiple target locations in potentially challenging environments. Curr…
Learning-based Design and Control for Quadrupedal Robots with Parallel-Elastic Actuators
Filip Bjelonic, Joonho Lee, Philip Arm +4
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to b…
Sim2Real for Soft Robotic Fish via Differentiable Simulation
John Z. Zhang, Yu Zhang, Pingchuan Ma +5
Accurate simulation of soft mechanisms under dynamic actuation is critical for the design of soft robots. We address this gap with our differentiable simulation tool by learning th…
Traversing Steep and Granular Martian Analog Slopes With a Dynamic Quadrupedal Robot
Hendrik Kolvenbach, Philip Arm, Elias Hampp +5
Celestial bodies such as the Moon and Mars are mainly covered by loose, granular soil, a notoriously challenging terrain to traverse with (wheeled) robotic systems. Here, we presen…