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THING SIGNED

subTerranean Haptic INvestiGator

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

THING project word cloud

Explore the words cloud of the THING project. It provides you a very rough idea of what is the project "THING" about.

capability light friction enriching mobility perceptual mobile perception haptic vision modalities stability enhanced legged exploration difficult lidar designs thing foot physical sense alone locomotion platforms heightened active environment tactile prediction ground

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 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.	UK (EDINBURGH)	coordinator	856˙325.00
2	EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH Organization address address: Raemistrasse 101 city: ZUERICH postcode: 8092 website: https://www.ethz.ch/de.html contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	CH (ZUERICH)	participant	886˙783.00
3	UNIVERSITA DI PISA UNIVERSITA DI PISA Organization address address: LUNGARNO PACINOTTI 43/44 city: PISA postcode: 56126 website: www.unipi.it contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (PISA)	participant	454˙375.00
4	THE CHANCELLOR, MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORD THE CHANCELLOR, MASTERS AND SCHOLARS OF THE UNIVERSITY OF OXFORD Organization address address: WELLINGTON SQUARE UNIVERSITY OFFICES city: OXFORD postcode: OX1 2JD website: www.ox.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.	UK (OXFORD)	participant	435˙308.00
5	ANYBOTICS AG ANYBOTICS AG Organization address address: LEONHARDSTRASSE 21 city: ZURICH postcode: 8092 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	CH (ZURICH)	participant	421˙551.00
6	POLITECHNIKA POZNANSKA POLITECHNIKA POZNANSKA Organization address address: PL MARII SKLODOWSKIEJ CURIE 5 city: POZNAN postcode: 60 965 website: www.put.poznan.pl contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	PL (POZNAN)	participant	376˙223.00
7	QBROBOTICS SRL QBROBOTICS SRL Organization address address: VIA GIUNTINI 13, LOTTO I,2 PIANO INT M city: NAVACCHIO CASCINA postcode: 56023 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	IT (NAVACCHIO CASCINA)	participant	374˙687.00
8	KGHM CUPRUM SPZOO ODPOWIEDZIALNOSCIA - CENTRUM BADAWCZO-ROZWOJOWE KGHM CUPRUM SPZOO ODPOWIEDZIALNOSCIA - CENTRUM BADAWCZO-ROZWOJOWE Organization address address: GEN. W. SIKORSKIEGO 2-8 city: WROCLAW postcode: 53-659 website: www.cuprum.wroc.pl contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	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

List of publications.
year	authors and title	journal	last update
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; BÃ¤rtschi, 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 toolboxâ€”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 BabiÄ, 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, RenÃ© 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, PÃ©ter, 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: 573â€“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 SkrzypczyÅ„ski Employing Natural Terrain Semantics in Motion Planning for a Multi-Legged Robot published pages: 723â€“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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