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| {{:adrl:tim3.jpg?nolink&160|}} | **Timothy Sandy** \\ \\ tsandy (at) ethz (dot) ch |

Tim is a PhD student at the Agile and Dexterous Robotics Lab of ETH Zurich and is a member of the NCCR Digital Fabrication ([[www.dfab.ch]]). His research is focused on state estimation and learning control for mobile manipulation. His research supports the development of the robot IF, which is being designed to autonomously build complex structures directly on building construction sites. He received his bachelors degree with honors in mechanical engineering from Carnegie Mellon University, USA in 2008. He then worked in a technical leadership program with Eaton Corporation for three years, gaining experience in the aerospace, automotive, and commercial trucking industries. His research interests include mobile manipulation, sensor fusion, visual tracking, and robot model learning.

==== Videos ====

Object-Based Visual-Inertial Tracking [[https://youtu.be/bkP6E2Bff9Q| link]]
{{youtube>bkP6E2Bff9Q?medium}}

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Dynamically Decoupling End-Effector Motion for Mobile Manipulation [[https://youtu.be/o13I6MCiIow| link]]
{{youtube>o13I6MCiIow?medium}}

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Time-lapse of the In situ Fabricator building an Undulating Brick Wall [[https://youtu.be/loFSmJO3Hhk| link]]

{{youtube>loFSmJO3Hhk?medium}} 

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Autonomous Repositioning and Localization of the In situ Fabricator [[https://youtu.be/1HPLYOpTYMY| link]]

{{youtube>1HPLYOpTYMY?medium}} 


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==== Publications ====

[1] Timothy Sandy, Lukas Stadelmann, Simon Kerscher and Jonas Buchli, "ConFusion: Sensor Fusion for Complex Robotic Systems Using Nonlinear Optimization." IEEE Robotics and Automation Letters (RA-L), 2019. [[https://arxiv.org/abs/1806.07115 |Link]]

[2] Lukas Stadelmann, Timothy Sandy, Andreas Thoma and Jonas Buchli, "End-Effector Pose Correction for Versatile Large-Scale Multi-Robotic Systems." IEEE Robotics and Automation Letters (RA-L), 2019. [[http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8605356&isnumber=8581687 |Link]]

[3] Timothy Sandy and Jonas Buchli. "Object-Based Visual-Inertial Tracking for Additive Fabrication". IEEE Robotics and Automation Letters (RA-L), 2018.[[http://www.adrl.ethz.ch/archive/ral18_object_tracking.pdf |Preprint]]

[4] Manuel Lussi, Timothy Sandy, Kathrin Doerfler, Norman Hack, Fabio Gramazio, Matthias Kohler and Jonas Buchli. "Accurate and Adaptive In situ Fabrication of an Undulated Wall using an On-Board Visual Sensing System". IEEE International Conference on Robotics and Automation (ICRA), 2018.[[http://www.adrl.ethz.ch/archive/icra2018_mmsensingpaper_final.pdf |Preprint]]

[5] Timothy Sandy and Jonas Buchli. "Dynamically Decoupling Base and End-Effector Motion for Mobile Manipulation using Visual-Inertial Sensing". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.[[http://www.adrl.ethz.ch/archive/iros17_dynamic_decoupling.pdf |Preprint]]

[6] Markus Giftthaler, Farbod Farshidian, Timothy Sandy, Lukas Stadelmann and Jonas Buchli. "Efficient Kinematic Planning for Mobile Manipulators with Non-holonomic Constraints Using Optimal Control". IEEE International Conference on Robotics and Automation (ICRA), 2017. [[https://arxiv.org/abs/1701.08051 | arXiv-preprint]]

[7] Markus Giftthaler, Timothy Sandy, Kathrin Dörfler, Ian Brooks, Mark Buckingham, Gonzalo Rey, Matthias Kohler, Fabio Gramazio and Jonas Buchli. "Mobile Robotic Fabrication at 1:1 scale: the In situ Fabricator". Construction Robotics, Springer Journal no. 41693, 2017. [[https://arxiv.org/abs/1701.03573 | arXiv-preprint]][[http://link.springer.com/article/10.1007/s41693-017-0003-5 | Springer Link]]

[8] Jonas Buchli, Farbod Farshidian, Alexander Winkler, Timothy Sandy, and Markus Giftthaler. "Optimal and Learning Control for Autonomous Robots." arXiv preprint arXiv:1708.09342, 2017. [[https://arxiv.org/abs/1708.09342 | arXiv]]

[9] Timothy Sandy, Markus Giftthaler, Kathrin Dörfler, Matthias Kohler and Jonas Buchli. "Autonomous Repositioning and Localization of an In situ Fabricator". IEEE International Conference on Robotics and Automation (ICRA), 2016.
[[http://www.adrl.ethz.ch/archive/icra_16_if_brick_stacking.pdf | pdf]]
[[http://ieeexplore.ieee.org/abstract/document/7487449/ | Link]]

[10] Dörfler Kathrin, Sandy Timothy, Giftthaler Markus, Gramazio Fabio, Kohler Matthias, Buchli Jonas. "Mobile Robotic Brickwork - Automation of a Discrete Robotic Fabrication Process Using an Autonomous Mobile Robot". Robotic Fabrication in Architecture, Art and Design (RobArch), 2016. [[https://link.springer.com/chapter/10.1007%2F978-3-319-26378-6_15 | Link]]

[11] Qian Zhao, Benjamin Ellenberger, Hidenobu Sumioka, Timothy Sandy and Rolf Pfeifer. "The effect of spine actuation and stiffness on a pneumatically-driven quadruped robot for cheetah-like locomotion". International Conference on Robotics and Biomimetics (ROBIO), 2013. [[http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6739730&queryText%3Dspine+actuation+quadruped | Link]]
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