Publications
Papers, book chapters and datasets I wrote or co-authored, as listed on Google Scholar.
2,298Citations
2,066 since 2021
2,066 since 2021
23h-index
22 since 2021
22 since 2021
31i10-index
28 since 2021
28 since 2021
Citations per year
'16'17'18'19'20'21'22'23'24'25'26
68 of 68 publications. Updated from Google Scholar on 29 October 2026.
2026
Mosaic: Modular scalable autonomy for intelligent coordination of heterogeneous robotic teams
D Oberacker, J Richter, P Arm, MG Besselmann, L Puck, W Talbot, ...arXiv preprint arXiv:2601.23038, 20263 cit.A Practical Framework of Key Performance Indicators for Multi-Robot Lunar and Planetary Field Tests
J Richter, D Oberacker, G Ligeza, VT Bickel, P Arm, W Talbot, ...arXiv preprint arXiv:2601.20529, 20263 cit.Collaborative Task and Path Planning for Heterogeneous Robotic Teams using Multi-Agent PPO
M Rubio, J Richter, H Kolvenbach, M HutterarXiv preprint arXiv:2604.01213, 20262 cit.Semi-autonomous exploration of martian and lunar analogues with a legged robot using a Raman-equipped robotic arm and microscopic imager
G Ligeza, P Arm, TRR Bontognali, VT Bickel, H Kolvenbach, NJ Kuhn, ...Frontiers in Space Technologies 7, 1741757, 20262 cit.Toward Lunar Legged Robots: Field Deployment Lessons at LUNA
A Fuhrer, J Church, O Fischer, W Talbot, N Faesch, Y Hofmann, ...arXiv preprint arXiv:2610.12276, 2026MOSAIC: Modular Supervised Autonomy for Intelligent Coordination of Heterogeneous Robotic Teams
D Oberacker, J Richter, P Arm, MG Besselmann, L Puck, W Talbot, ...IEEE Transactions on Field Robotics, 2026
2025
LunarLeaper: A mission concept to explore the lunar subsurface with a small-scale legged robot
H Kolvenbach, A Mittelholz, SC Stähler, P Arm, VT Bickel, A Fuhrer, ...Acta Astronautica, 202526 cit.LunarLeaper: unlocking a subsurface world
A Mittelholz, S Stähler, H Kolvenbach, P Arm, V Bickel, J Church, J Gomez, ...202511 cit.Efficient learning-based control of a legged robot in lunar gravity
P Arm, O Fischer, J Church, A Fuhrer, H Kolvenbach, M HutterarXiv preprint arXiv:2509.10128, 20257 cit.PLATE: a Passive, Light-Weight Wheel Abrasion and Terramechanics Experiment
VT Bickel, H Kolvenbach, E Schwarb, SG Els, AM AlShehhiSpace Science Reviews 221 (5), 71, 20254 cit.Energy-efficient learning-based control of a legged robot in multiple gravity environments
P Arm, O Fischer, J Church, A Fuhrer, H Kolvenbach, M Hutter2025 International Conference on Space Robotics (iSpaRo), 573-579, 20253 cit.LunarLeaper-Unlocking a Subsurface World
SC Stähler, A Mittelholz, H Kolvenbach, P Arm, V Bickel, J Church, ...EGU General Assembly Conference Abstracts, EGU25-3659, 2025LunarLeaper: From Simulation to Hardware for Lunar Legged Locomotion
J Church, A Fuhrer, O Fischer, V Yash, K Elena, A Philip, H Kolvenbach, ...IAC 2025 Congress Proceedings, 1449-1461, 2025Impulse-Free Release Mechanism and Test Setup for Robotic Free-Floating Experiments on Parabolic Flights
P Arm, A Del Buono, M Berclaz, V Schelbert, J Geurts, F Bühler, ...IAC 2024 Conference Proceedings, 108-114, 2025
2024
Pedipulate: Enabling manipulation skills using a quadruped robot’s leg
P Arm, M Mittal, H Kolvenbach, M Hutter2024 IEEE International Conference on Robotics and Automation (ICRA), 5717-5723, 202488 cit.Spacehopper: A small-scale legged robot for exploring low-gravity celestial bodies
A Spiridonov, F Buehler, M Berclaz, V Schelbert, J Geurts, E Krasnova, ...2024 IEEE International Conference on Robotics and Automation (ICRA), 3464-3470, 202440 cit.Multi-Objective global path planning for lunar exploration with a quadruped robot
J Richter, H Kolvenbach, G Valsecchi, M Hutter2024 International Conference on Space Robotics (iSpaRo), 48-55, 202411 cit.Legged systems for exploration
H Kolvenbach, P Arm, G Valsecchi, N Rudin, M HutterSpace Robotics: The State of the Art and Future Trends, 135-156, 202410 cit.Autonomous construction of lunar infrastructure with in-situ boulders
J Walther, RL Johns, H Kolvenbach, VT Bickel, M HutterFrontiers in Space Technologies 5, 1345337, 20247 cit.Technologies for prospecting, extraction, and utilization of space resources
P Reiss, A Abbud-Madrid, P Arm, VT Bickel, F Kehl, H Kolvenbach, ...Frontiers in Space Technologies 5, 1493494, 20245 cit.Air-bearing microgravity simulators for space robotics
T Rybus, H Kolvenbach, XT YanSpace Robotics: The State of the Art and Future Trends, 157-190, 20244 cit.An Efficient Multi-Robot Arm Coordination Strategy for Pick-and-Place Tasks using Reinforcement Learning
T Jermann, H Kolvenbach, FE Estay, K Kramer, M HutterarXiv preprint arXiv:2409.13511, 20242 cit.Dataset for the paper:" Autonomous Construction of Lunar Infrastructure with In-Situ Boulders"
J Walther, RL Johns, H Kolvenbach, V Bickel, M HutterETH Zurich, 20241 cit.Dataset and analysis of river waste pollution in the Limmat River, CH, during a one-day city festival (Zurich Street Parade, 2023)
F Esquivel Estay, H Kolvenbach, D Strübin, B Sun, J Stolle, A Ensmenger, ...ETH Zurich, 20241 cit.Rock Identification with a Microscopic Imager and Raman-Equipped Robotic Arm in Martian and Lunar Analog Environments
G Ligeza, P Arm, T Bontognali, V Bickel, H Kolvenbach, N Kuhn, F Kehl55th Lunar and Planetary Science Conference 3040, 1541, 20241 cit.ARC Synthetic Riverine Waste
H Kolvenbach, D Strübin, J Stolle, X Voellmy, F Esquivel EstayETH Zurich, 2024Technologies for prospecting, extraction, and utilization of space resources
P Zabel, P Reiss, A Abbud-Madrid, B Lomax, F Kehl, V Bickel, ...Frontiers, 2024
2023
Scientific exploration of challenging planetary analog environments with a team of legged robots
P Arm, G Waibel, J Preisig, T Tuna, R Zhou, V Bickel, G Ligeza, T Miki, ...Science robotics 8 (80), eade9548, 2023213 cit.Towards legged locomotion on steep planetary terrain
G Valsecchi, C Weibel, H Kolvenbach, M Hutter2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 202327 cit.Concept study of a small-scale dynamic legged robot for lunar exploration
M Trentini, P Arm, G Valsecchi, H Kolvenbach, M HutterIAC 2023 Conference Proceedings, 78250, 20235 cit.Comparison of Legged Single-Robot and Multi-Robot Planetary Analog Exploration Systems
P Arm, H Kolvenbach, M HutterIAC 2023 Conference Proceedings, 78381, 20233 cit.
2022
Traversing steep and granular martian analog slopes with a dynamic quadrupedal robot
H Kolvenbach, P Arm, E Hampp, A Dietsche, V Bickel, B Sun, C Meyer, ...Field Robotics 2, 910-939, 202289 cit.Discrete element modeling of planetary ice analogs: mechanical behavior upon sintering
W Dhaouadi, E Marteau, H Kolvenbach, M Choukroun, JL Molaro, ...Granular Matter 24 (1), 12, 202211 cit.Preliminary design of actuators for walking robots on the Moon
G Valsecchi, D Liconti, F Tischhauser, H Kolvenbach, M Hutter16th Symposium on Advanced Space Technologies in Robotics and Automation …, 20226 cit.Optimal global path planning for multimodel locomotion on lunar terrain
SC Wells, P Zhang, H Kolvenbach, L Wellhausen, N Rudin, M HutterProceedings of ASTRA 2022, 20226 cit.Towards legged robots for planetary exploration
H Kolvenbach, P Arm, G Valsecchi, N Rudin, M HutterProceedings of the ICRA Workshop on Legged Robots, Philadelphia, PA, USA 27, 20224 cit.LEAP-Legged Exploration of the Aristarchus Plateau
P Bambach, V Bickel, H Kolvenbach, G Valsecchi, H Steininger, N Eaton, ...European Planetary Science Congress, EPSC2022-856, 20223 cit.Results and Lessons Learned from the First Field Trial of the ESA-ESRIC Space Resources Challenge of Team GLIMPSE
P Arm, G Waibel, G Ligeza, V Bickel, M Tranzatto, S Zimmermann, ...16th Symposium on Advanced Space Technologies in Robotics and Automation …, 20223 cit.
2021
Cat-like jumping and landing of legged robots in low gravity using deep reinforcement learning
N Rudin, H Kolvenbach, V Tsounis, M HutterIEEE Transactions on Robotics 38 (1), 317-328, 2021186 cit.Adaptive feet for quadrupedal walkers
MG Catalano, MJ Pollayil, G Grioli, G Valsecchi, H Kolvenbach, M Hutter, ...IEEE Transactions on Robotics 38 (1), 302-316, 202162 cit.A reconfigurable leg for walking robots
F Nan, H Kolvenbach, M HutterIEEE Robotics and Automation Letters 7 (2), 1308-1315, 202124 cit.- 14 cit.
2020
Towards autonomous inspection of concrete deterioration in sewers with legged robots
H Kolvenbach, D Wisth, R Buchanan, G Valsecchi, R Grandia, M Fallon, ...Journal of field robotics 37 (8), 1314-1327, 2020100 cit.Vitruvio: An open-source leg design optimization toolbox for walking robots
M Chadwick, H Kolvenbach, F Dubois, HF Lau, M HutterIEEE Robotics and Automation Letters 5 (4), 6318-6325, 202063 cit.Modeling and Simulation of Planetary Porous Ice Analogs
W Dhaouadi, E Marteau, H Kolvenbach, M Choukroun, J Molaro, ...AGU Fall Meeting Abstracts 2020, P003-0007, 20201 cit.Robotic Exploration of Enceladus’ Surface: Sampling, Testing, and Modeling
W Dhaouadi, E Marteau, H Kolvenbach, M Choukroun, JL Molaro, ...IROS Workshop on Planetary Exploration Robots: Challenges and Opportunities …, 2020
2019
Spacebok: A dynamic legged robot for space exploration
P Arm, R Zenkl, P Barton, L Beglinger, A Dietsche, L Ferrazzini, E Hampp, ...2019 international conference on robotics and automation (ICRA), 6288-6294, 2019194 cit.Towards jumping locomotion for quadruped robots on the moon
H Kolvenbach, E Hampp, P Barton, R Zenkl, M Hutter2019 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 201994 cit.Haptic inspection of planetary soils with legged robots
H Kolvenbach, C Bärtschi, L Wellhausen, R Grandia, M HutterIEEE Robotics and Automation Letters 4 (2), 1626-1632, 201989 cit.Tactile inspection of concrete deterioration in sewers with legged robots
H Kolvenbach, G Valsecchi, R Grandia, A Ruiz, F Jenelten, M Hutter12th Conference on Field and Service Robotics (FSR 2019), 201924 cit.Design of a Low-Cost, Spherical Air-Bearing Satellite Simulator
H Kolvenbach, M Voellmy15th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 20199 cit.
2018
Towards a generic solution for inspection of industrial sites
M Hutter, R Diethelm, S Bachmann, P Fankhauser, C Gehring, V Tsounis, ...Field and Service Robotics, 575-589, 201854 cit.An adaptive landing gear for extending the operational range of helicopters
B Stolz, T Brödermann, E Castiello, G Englberger, D Erne, J Gasser, ...2018 IEEE/RSJ international conference on intelligent robots and systems …, 201848 cit.Cable-driven actuation for highly dynamic robotic systems
J Hwangbo, V Tsounis, H Kolvenbach, M Hutter2018 IEEE/RSJ international conference on intelligent robots and systems …, 201847 cit.Towards a passive adaptive planar foot with ground orientation and contact force sensing for legged robots
R Käslin, H Kolvenbach, L Paez, K Lika, M Hutter2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 201843 cit.Efficient gait selection for quadrupedal robots on the moon and mars
H Kolvenbach, D Bellicoso, F Jenelten, L Wellhausen, M Hutter14th International Symposium on Artificial Intelligence, Robotics and …, 201838 cit.
2017
ANYmal-toward legged robots for harsh environments
M Hutter, C Gehring, A Lauber, F Gunther, CD Bellicoso, V Tsounis, ...Advanced Robotics 31 (17), 918-931, 2017479 cit.Scalability analysis of legged robots for space exploration
H Kolvenbach, M Breitenstein, C Gehring, M Hutter68th International Astronautical Congress (IAC), IAC: 17-17. D3. 3.5, 201733 cit.Life extension: An autonomous docking station for recharging quadrupedal robots
H Kolvenbach, M HutterField and Service Robotics: Results of the 11th International Conference …, 201710 cit.Apparatus, in particular for balance training, having at least one moveable platform
HR Kolvenbach, U Kübler, P KernUS Patent 9,630,053, 20178 cit.
2016
Recent developments on ORBIT, a 3-DoF Free Floating Contact Dynamics Testbed
H Kolvenbach, K Wormnes13th International Symposium on Artificial Intelligence, Robotics and …, 201640 cit.A robotic testbed for low-gravity simulation
J Tomasek, H Kolvenbach, M Pagnamenta, K Wormnes13th International Symposium on Artificial Intelligence, Robotics and …, 201610 cit.Rospa, cross-validation of the platform-art and orbit test facilities for contact dynamic scenario setup and study
A Pellacani, H Kolvenbach6th International Conference on Astrodynamics Tools and Techniques, ESA/ESOC, 20168 cit.Mapping and optimizing big space data-An international, interdisciplinary and intercultural perspective on the space related data processes
D Brack, B Fishbain, S Šćepanović, C Li, KS Deepa, D Stefoudi, F Kudjoe, ...International Astronautical Congress, 2016
2015
A Facility for Experiments on Free Floating Contact Dynamics
H Kolvenbach, K Wormnes13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 201511 cit.
2014
Development of an Atmosphere Management System for Bio-regenerative Life Support Systems
H KolvenbachRWTH Aachen, 20148 cit.
Undated
Development of sensorized feet for sewer inspection with quadrupedal robots
H Kolvenbach, A Ruiz Bassols