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THING SIGNED

subTerranean Haptic INvestiGator

Total Cost €

0

EC-Contrib. €

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Partnership

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Project "THING" data sheet

The following table provides information about the project.

Coordinator
THE UNIVERSITY OF EDINBURGH 

Organization address
address: OLD COLLEGE, SOUTH BRIDGE
city: EDINBURGH
postcode: EH8 9YL
website: www.ed.ac.uk

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country United Kingdom [UK]
 Project website http://thing-h2020.eu/
 Total cost 4˙071˙685 €
 EC max contribution 4˙071˙685 € (100%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2017-1
 Funding Scheme RIA
 Starting year 2018
 Duration (year-month-day) from 2018-01-01   to  2021-03-31

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    THE UNIVERSITY OF EDINBURGH UK (EDINBURGH) coordinator 856˙325.00
2    EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH CH (ZUERICH) participant 886˙783.00
3    UNIVERSITA DI PISA IT (PISA) participant 454˙375.00
4    THE CHANCELLOR, MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORD UK (OXFORD) participant 435˙308.00
5    ANYBOTICS AG CH (ZURICH) participant 421˙551.00
6    POLITECHNIKA POZNANSKA PL (POZNAN) participant 376˙223.00
7    QBROBOTICS SRL IT (NAVACCHIO CASCINA) participant 374˙687.00
8    KGHM CUPRUM SPZOO ODPOWIEDZIALNOSCIA - CENTRUM BADAWCZO-ROZWOJOWE PL (WROCLAW) participant 266˙430.00

Map

 Project objective

THING will advance the perceptual capabilities of highly mobile legged platforms through haptic perception and active exploration. In this light, THING will deliver: 1) Novel foot designs for enhanced tactile perception and locomotion, 2) Improved perceptual capability, enriching existing modalities (lidar, vision) with haptic information, 3) Heightened physical sense of the environment, including friction, ground stability (difficult through vision alone), and 4) Enhanced mobility through improved perception, prediction, and control.

 Deliverables

List of deliverables.
Passive ankle joints with rigid sole Demonstrators, pilots, prototypes 2020-02-17 16:48:14
Open-source simulation package Other 2020-01-14 09:47:04
Launch of project website, social media, and video channel Websites, patent fillings, videos etc. 2020-01-14 09:48:26
First Prototypes of Passive and Active sole Demonstrators, pilots, prototypes 2020-01-14 09:46:59
Report on the evaluation of the first prototypes of soles Documents, reports 2020-01-14 09:48:25

Take a look to the deliverables list in detail:  detailed list of THING deliverables.

 Publications

year authors and title journal last update
List of publications.
2019 Angelini, Franco and Xin, Guiyang and Wolfslag, Wouter J. and Tiseo, Carlo and Mistry, Michael and Garabini, Manolo and Bicchi, Antonio and Vijayakumar, Sethu
Online Optimal Impedance Planning for Legged Robots
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems 2019-09-05
2019 Martim Brandao, Maurice Fallon, and Ioannis Havoutis
Multi-controller multiobjective locomotion planning for legged robots
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems 2019-09-05
2019 Minniti, Maria V.; Farshidian, Farbod; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Whole-Body MPC for a Dynamically Stable Mobile Manipulator
published pages: , ISSN: 2377-3766, DOI: 10.3929/ethz-b-000353053
IEEE Robotics and Automation Letters 4 2019-09-05
2019 Bednarek, Jakub, Michal Bednarek, Lorenz Wellhausen, Marco Hutter, and Krzysztof Walas
What am I touching? Learning to classify terrain via haptic sensing
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation 2019-09-05
2019 Geisert, Mathieu; Yates, Thomas; Orgen, Asil; Fernbach, Pierre; Havoutis, Ioannis
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based Planner
published pages: , ISSN: , DOI:
Towards Autonomous Robotic Systems Conference 5 2019-09-05
2019 Kolvenbach, Hendrik; Bärtschi, Christian; Wellhausen, Lorenz; id_orcid0000-0001-5148-754X; Grandia, Ruben; Hutter, Marco; id_orcid0000-0002-4285-4990
Haptic Inspection of Planetary Soils with Legged Robots
published pages: , ISSN: 2377-3766, DOI: 10.3929/ethz-b-000322720
IEEE Robotics and Automation Letters 4 (2) 2019-09-05
2019 Belter, Dominik, Jakub Bednarek, Hsiu-Chin Lin, Guiyang Xin, and Michael Mistry
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation 2019-09-05
2018 \"Giftthaler, Markus and Neunert, Michael and St{\"\"a}uble, Markus and Buchli, Jonas\"\"\"
The control toolbox—An open-source C++ library for robotics, optimal and model predictive control
published pages: 123-129, ISSN: , DOI:
International Conference on Simulation, Modeling, and Programming for Autonomous Robots 2019-09-05
2018 Kaslin, Roman and Kolvenbach, Hendrik and Paez, Laura and Lika, Klajd and Hutter, Marco
Towards a Passive Adaptive Planar Foot with Ground Orientation and Contact Force Sensing for Legged Robots
published pages: 2707-2714, ISSN: , DOI:
International Conference on Intelligent Robots and Systems 2019-09-05
2019 Mengacci, Riccardo and Angelini, Franco and Catalano, Manuel G. and Grioli,Giorgio and Bicchi, Antonio and Garabini, Manolo
Stiffness Bounds for Resilient and Stable Physical Interaction of Articulated Soft Robots
published pages: 4131-4138, ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 4(4) 2019-09-05
2018 Xin, Guiyang and Lin, Hsiu-Chin and Smith, Joshua and Cebe, Oguzhan and Mistry, Michael
A model-based hierarchical controller for legged systems subject to external disturbances
published pages: 4375-4382, ISSN: , DOI:
International Conference on Robotics and Automation 2019-09-05
2019 D. Belter
Efficient Modeling and Evaluation of Constraints in Path Planning for Multi-legged Walking Robots
published pages: 2169-3536, ISSN: 2169-3536, DOI:
Access 2019-09-05
2019 Seyde, Tim and Carius, Jan and Grandia, Ruben and Farshidian, Farbod and Hutter, Marco
Locomotion Planning through a Hybrid Bayesian Trajectory Optimization
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation 2019-09-05
2018 Morteza Azad, Jan Babič, Michael Mistry
Effects of the weighting matrix on dynamic manipulability of robots
published pages: 1867-1879, ISSN: 1573-7527, DOI:
Autonomous Robots 43 (7) 2019-09-05
2019 Wisth, David, Marco Camurri, and Maurice Fallon
Robust Legged Robot State Estimation Using Factor Graph Optimization
published pages: , ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 2019-09-05
2019 D. Wisth, and M. Camurri and M. Fallon
VILENS: A Visual Inertial Legged Navigation System based on Factor Graphs
published pages: , ISSN: , DOI:
Workshop Towards Real-World Deployment of Legged Robots 2019-09-05
2019 Jan Carius, René Ranftl, Vladlen Koltun, and Marco Hutter
Trajectory Optimization for Legged Robots with Slipping Motions
published pages: 3013 - 3020, ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 4 (3) 2019-09-05
2018 Fankhauser, Péter, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, and Marco Hutter
Robust Rough-Terrain Locomotion with a Quadrupedal Robot
published pages: 1-8, ISSN: 2577-087X, DOI:
International Conference on Robotics and Automation 2019-09-05
2019 Wellhausen, Lorenz and Dosovitskiy, Alexey and Ranftl, Rene and Walas, Krzysztof and Cadena, Cesar and Hutter, Marco
Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning
published pages: 1509-1516, ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 4(2) 2019-09-05
2018 Hwangbo, Jemin and Lee, Joonho and Hutter, Marco
Per-Contact Iteration Method for Solving Contact Dynamics
published pages: 895-902, ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 3(2) 2019-09-05
2018 Bloesch, Michael, Michael Burri, Hannes Sommer, Roland Siegwart, and Marco Hutter
The Two-State Implicit Filter Recursive Estimation for Mobile Robots
published pages: 573–580, ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters 3 (1) 2019-09-05
2019 Ruben Grandia, Farbod Farshidian, Alexey Dosovitskiy, Rene Ranftl, Marco Hutter
Frequency-Aware Model Predictive Control
published pages: 1517-1524, ISSN: 2377-3766, DOI: 10.1109/LRA.2019.2895882
IEEE Robotics and Automation Letters 4/2 2019-09-05
2019 Kolvenbach, Hendrik and Valsecchi, Giorgio and Grandia, Ruben and Ruiz, Antoni and Jenelten, Fabian and Hutter, Marco
Tactile Inspection of Concrete Deterioration in Sewers with Legged Robots
published pages: , ISSN: , DOI:
Field and Service Robots 2019-09-05
2019 Grandia, Ruben and Farshidian, Farbod and Ranftl, Ren{\'{e}} and Hutter, Marco
Feedback MPC for Torque-Controlled Legged Robots
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems 2019-09-05
2019 Homberger, Timon and Wellhausen, Lorenz and Fankhauser, P{\'{e}}ter and Hutter, Marco
Support Surface Estimation for Legged Robots
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation 2019-09-05
2019 Carlo Tiseo, Sethu Vijayakumar, Michael Mistry
Analytic Model for Quadruped Locomotion Task-Space Planning
published pages: , ISSN: , DOI:
International Conference of the IEEE Engineering in Medicine and Biology Society 2019-09-05
2019 Dominik Belter, Jan Wietrzykowski, and Piotr Skrzypczyński
Employing Natural Terrain Semantics in Motion Planning for a Multi-Legged Robot
published pages: 723–743, ISSN: 1573-0409, DOI:
Journal of Intelligent & Robotic Systems 2019-09-05
2018 Hua Deng, Guiyang Xin, Guoliang Zhong, Michael Mistry
Object carrying of hexapod robots with integrated mechanism of leg and arm
published pages: 145-155, ISSN: 0736-5845, DOI:
Robotics and Computer-Integrated Manufacturing 54 2019-09-05
2019 Sleiman, Jean-pierre and Carius, Jan and Grandia, Ruben and Wermelinger, Martin and Hutter, Marco
Contact-Implicit Trajectory Optimization for Dynamic Object Manipulation
published pages: , ISSN: 2377-3766, DOI:
IEEE Robot and Automation Letters 2019-09-05
2019 Jenelten, Fabian and Hwangbo, Jemin and Tresoldi, Fabian and Bellicoso, C Dario and Hutter, Marco
Dynamic Locomotion on Slippery Ground
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems 2019-09-05

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The information about "THING" are provided by the European Opendata Portal: CORDIS opendata.

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