115 citations · 225 across the 6 of their papers we have counts for
6 papers
ETHcavation: A Dataset and Pipeline for Panoptic Scene Understanding and Object Tracking in Dynamic Construction Environments
Lorenzo Terenzi, Julian Nubert, Pol Eyschen +4
Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work…
HEAP -- The autonomous walking excavator
Dominic Jud, Simon Kerscher, Martin Wermelinger +5
The demand and the potential for automation in the construction sector is unmatched, particularly for increasing environmental sustainability, improving worker safety and reducing…
Combined Sampling and Optimization Based Planning for Legged-Wheeled Robots
Edo Jelavic, Farbod Farshidian, Marco Hutter
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling pre…
Towards Autonomous Robotic Precision Harvesting: Mapping, Localization, Planning and Control for a Legged Tree Harvester
Edo Jelavic, Dominic Jud, Pascal Egli +1
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation a…
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
Farbod Farshidian, Edo Jelavić, Asutosh Satapathy +2
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorit…
Robust Whole-Body Motion Control of Legged Robots
Farbod Farshidian, Edo Jelavić, Alexander W. Winkler +1
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact fo…