Material handling

Perception, planning, and learned control coordinate bulk material transfer on a 40-ton hydraulic machine.

Research excerpt14.5s · Silent

Autonomous loading · Original speedDownload clip

The research

This research combines a learned grasp-location planner, obstacle-aware motion planning, and learned hydraulic controllers to pick up, transport, and unload material with a freely swinging gripper.

The clip shows an autonomous loading sequence. Coordinating contact, transport, and release is one starting point for the broader manipulation skills Moleworks is working toward.

Sources & attribution

Research at ETH Zürich / Robotic Systems Lab and Liebherr-Hydraulikbagger GmbH.

Large Scale Robotic Material Handling: Learning, Planning, and Control

Paper authors: Filippo A. Spinelli, Yifan Zhai, Fang Nan, Pascal Egli, Julian Nubert, Thilo Bleumer, Lukas Miller, Ferdinand Hofmann, Marco Hutter.

Original research film

Original film credits: Filippo A. Spinelli, Yifan Zhai, Fang Nan, Pascal Egli, Julian Nubert, Thilo Bleumer, Lukas Miller, Patrick Goegler, Ferdinand Hofmann, Marco Hutter.