Learning to Open and Traverse Doors with a Legged Manipulator

Autonomous door opening and plugging in with a personal robot

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Door opening and traversal with an industrial cartesian impedance controlled mobile robot

M. Stuede, K. Nuelle, S. Tappe, and T. Ortmaier · 2019

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Learning quadrupedal locomotion over challenging terrain

A collision-free mpc for whole-body dynamic locomotion and manipulation

J.-R. Chiu, J.-P. Sleiman, M. Mittal, F. Farshidian, and M. Hutter · 2022

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Efficient multitask learning with an embodied predictive model for door opening and entry with whole-body control

H. Ito, K. Yamamoto, H. Mori, and T. Ogata · 2022

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Learning robust perceptive locomotion for quadrupedal robots in the wild

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Combining learning-based locomotion policy with model-based manipulation for legged mobile manipulators

Y. Ma, F. Farshidian, T. Miki, J. Lee, and M. Hutter · 2022

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Bayesian multi-task learning mpc for robotic mobile manipulation

E. Arcari, M. V. Minniti, A. Scampicchio, A. Carron, F. Farshidian, M. Hutter, and M. N. Zeilinger · 2023

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