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Remo Diethelm

3 accepted papers

2016

ANYmal - a highly mobile and dynamic quadrupedal robot

Marco Hutter, Christian Gehring, Dominic Jud, Andreas Lauber, C. Dario Bellicoso, Vassilios Tsounis +8
IROS 2016poster

This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or…

Cited by 1094Source ↗Scholar ↗
2016

Collaborative navigation for flying and walking robots

Péter Fankhauser, Michael Bloesch, Philipp Krüsi, Remo Diethelm, Martin Wermelinger, Thomas Schneider +3
IROS 2016poster

Flying and walking robots can use their complementary features in terms of viewpoint and payload capability to the best in a heterogeneous team. To this end, we present our online collaborative navigation framework for unknown and challenging terrain. The method leverages the flying robot's onboard…

Cited by 62Source ↗Scholar ↗
2016

Navigation planning for legged robots in challenging terrain

Martin Wermelinger, Péter Fankhauser, Remo Diethelm, Philipp Krüsi, Roland Siegwart, Marco Hutter
IROS 2016poster

This paper presents a framework for planning safe and efficient paths for a legged robot in rough and unstructured terrain. The proposed approach allows to exploit the distinctive obstacle negotiation capabilities of legged robots, while keeping the complexity low enough to enable planning over cons…

Cited by 240Source ↗Scholar ↗