ANYmal - a highly mobile and dynamic quadrupedal robot
Open accessAbstract
This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance, and user-friendly handling to enable future operation in real world scenarios. Performance tests with the joint actuators indicated a torque control bandwidth of more than 70 Hz, high disturbance rejection capability, as well as impact robustness when moving with maximal velocity. It is demonstrated in a series of experiments that ANYmal can execute walking gaits, dynamically trot at moderate speed, and is able to perform special maneuvers to stand up or crawl very steep stairs. Detailed measurements unveil that even full-speed running requires less than 280 W, resulting in an autonomy of more than 2 h.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
The controller was used to drive two generations of ANYmal quadrupeds in a variety of conditions that are beyond the reach of prior published work in legged robotics.
“The controller was used to drive two generations of ANYmal quadrupeds [20] in a variety of conditions that are beyond the reach of prior published work in legged robotics.”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [20]
Cites
Pratt, G. A., & Williamson, M. M. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1995.525827 · Cited by 2,209 · see citing works
BigDog, the Rough-Terrain Quadruped Robot
Raibert, M. H., Blankespoor, K., Nelson, G. M., & Playter, R. R. (2008) · IFAC Proceedings Volumes · doi:10.3182/20080706-5-kr-1001.01833 · Cited by 1,529 · see citing works
Design of HyQ – a hydraulically and electrically actuated quadruped robot
Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G. (2011) · Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering · doi:10.1177/0959651811402275 · Cited by 630 · see citing works
Contribution to the Synthesis of Biped Gait
VUKOBRATOVIC, M. K., & Juričić, D. (1969) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.1969.4502596 · Cited by 611 · see citing works
Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
Seok, S., Wang, A. Z., Chuah, M. Y., Otten, D. M., Lang, J. H., & Kim, S. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6631038 · Cited by 457 · see citing works
Design and Control Considerations for High-Performance Series Elastic Actuators
Paine, N., Oh, S., & Sentis, L. (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2270435 · Cited by 411 · see citing works
Valkyrie: NASA's First Bipedal Humanoid Robot
Radford, N. A., Strawser, P., Hambuchen, K., Mehling, J. S., Verdeyen, W. K., Donnan, A. S., Holley, J., Sanchez, J., Nguyen, V., Bridgwater, L., et al. (2015) · Journal of Field Robotics · doi:10.1002/rob.21560 · Cited by 300 · see citing works
State Estimation for Legged Robots: Consistent Fusion of Leg Kinematics and IMU
Bloesch, M., Hutter, M., Hoepflinger, M. A., Leutenegger, S., Gehring, C., Remy, C. D., & Siegwart, R. (2013) · The MIT Press eBooks · doi:10.7551/mitpress/9816.003.0008 · Cited by 277 · see citing works
Self-citationPaine, N., Mehling, J. S., Holley, J., Radford, N. A., Johnson, G., Fok, C., & Sentis, L. (2015) · Journal of Field Robotics · doi:10.1002/rob.21556 · Cited by 263 · see citing works
STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION
Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M. A., Remy, C. D., & Siegwart, R. (2012) · WORLD SCIENTIFIC eBooks · doi:10.1142/9789814415958_0062 · Cited by 245 · see citing works
Self-citationActuator design for high force proprioceptive control in fast legged locomotion
Seok, S., Wang, A. Z., Otten, D. M., & Kim, S. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6386252 · Cited by 241 · see citing works
Towards versatile legged robots through active impedance control
Semini, C., Barasuol, V., Boaventura, T., Frigerio, M., Focchi, M., Caldwell, D. G., & Buchli, J. (2015) · The International Journal of Robotics Research · doi:10.1177/0278364915578839 · Cited by 178 · see citing works
Some finite state aspects of legged locomotion
McGhee, R. B. (1968) · Mathematical Biosciences · doi:10.1016/0025-5564(68)90007-2 · Cited by 171 · see citing works
Quadrupedal locomotion using hierarchical operational space control
Hutter, M., Sommer, H., Gehring, C., Hoepflinger, M. A., Bloesch, M., & Siegwart, R. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364913519834 · Cited by 149 · see citing works
Self-citationToward Combining Speed, Efficiency, Versatility, and Robustness in an Autonomous Quadruped
Hutter, M., Gehring, C., Hoepflinger, M. A., Bloesch, M., & Siegwart, R. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2014.2360493 · Cited by 138 · see citing works
Self-citationState estimation for legged robots on unstable and slippery terrain
Bloesch, M., Gehring, C., Fankhauser, P., Hutter, M., Hoepflinger, M. A., & Siegwart, R. (2013) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2013.6697236 · Cited by 136 · see citing works
Self-citationMobile Manipulation and Mobility as Manipulation—Design and Algorithms of RoboSimian
Hebert, P. D. N., Bajracharya, M., Ma, J., Hudson, N., Aydemir, A., Reid, J. I., Bergh, C. F., Borders, J., Frost, M., Hagman, M., et al. (2015) · Journal of Field Robotics · doi:10.1002/rob.21566 · Cited by 130 · see citing works
Late motor processing in low-impedance robots: impedance control of series-elastic actuators
Pratt, G. A., Willisson, P., Bolton, C., & Hofman, A. (2004) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc.2004.1384410 · Cited by 128 · see citing works
Gehring, C., Hoepflinger, M. A., Siegwart, R., Coros, S., Hutter, M., Bellicoso, C. D., Heijnen, H., Diethelm, R., Bloesch, M., Fankhauser, P., et al. (2016) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2015.2505910 · Cited by 120 · see citing works
Self-citationDesign and architecture of a series elastic snake robot
Rollinson, D., Bilgen, Y., Brown, B., Enner, F., Ford, S., Layton, C., Rembisz, J., Schwerin, M., Willig, A., Velagapudi, P., et al. (2014) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2014.6943219 · Cited by 113 · see citing works
Efficient and Versatile Locomotion With Highly Compliant Legs
Hutter, M., Remy, C. D., Hoepflinger, M. A., & Siegwart, R. (2012) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2012.2222430 · Cited by 99 · see citing works
Self-citationHumanoid robot HRP-2Kai — Improvement of HRP-2 towards disaster response tasks
Kaneko, K., Morisawa, M., Kajita, S., Nakaoka, S., Sakaguchi, T., Cisneros, R., & Kanehiro, F. (2015) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2015.7363526 · Cited by 92 · see citing works
Walking and crawling with ALoF: a robot for autonomous locomotion on four legs
Remy, C. D., Baur, O., Latta, M., Lauber, A., Hutter, M., Hoepflinger, M. A., Pradalier, C., & Siegwart, R. (2011) · Industrial Robot the international journal of robotics research and application · doi:10.1108/01439911111122761 · Cited by 33 · see citing works
Self-citationDRC-hubo walking on rough terrains
Wang, H., Zheng, Y. F., Jun, Y., & Oh, P. (2014) · IEEE International Conference on Technologies for Practical Robot Applications · doi:10.1109/tepra.2014.6869151 · Cited by 32 · see citing works
HIGH COMPLIANT SERIES ELASTIC ACTUATION FOR THE ROBOTIC LEG SCARLETH
Hutter, M., Remy, C. D., Hoepflinger, M. A., & Siegwart, R. (2011) · Field Robotics · doi:10.1142/9789814374286_0059 · Cited by 32 · see citing works
Self-citationPaskarbeit, J., Annunziata, S., Basa, D., & Schneider, A. (2013) · Sensors and Actuators A Physical · doi:10.1016/j.sna.2013.04.028 · Cited by 27 · see citing works
Towards automatic discovery of agile gaits for quadrupedal robots
Gehring, C., Coros, S., Hutter, M., Bloesch, M., Fankhauser, P., Hoepflinger, M. A., & Siegwart, R. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907476 · Cited by 26 · see citing works
Self-citationHigh-performance series elastic actuation
Paine, N. (2014) · Cited by 12 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Learning agile and dynamic motor skills for legged robots
Hwangbo, J., Lee, J., Dosovitskiy, A., Bellicoso, D., Tsounis, V., Koltun, V., & Hutter, M. (2019) · Science Robotics · doi:10.1126/scirobotics.aau5872 · Cited by 1,482 · see citing works
Self-citationLearning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Science Robotics · doi:10.1126/scirobotics.abc5986 · Cited by 1,156 · see citing works
Self-citationLearning quadrupedal locomotion over challenging terrain
Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000448343 · Cited by 752 · see citing works
Self-citationMIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot
Bledt, G., Powell, M. J., Katz, B., Carlo, J. D., Wensing, P. M., & Kim, S. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593885 · Cited by 739 · see citing works
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Katz, B., Carlo, J. D., & Kim, S. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793865 · Cited by 559 · see citing works
Winkler, A. W., Bellicoso, C. D., Hutter, M., & Buchli, J. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2798285 · Cited by 451 · see citing works
Self-citationLearning to Walk Via Deep Reinforcement Learning
Haarnoja, T., Ha, S., Zhou, A., Tan, J., Tucker, G., & Levine, S. (2019) · Robotics: Science and Systems XV · doi:10.15607/rss.2019.xv.011 · Cited by 430 · see citing works
Multi-environment robotic transitions through adaptive morphogenesis
Baines, R. L., Patiballa, S. K., Booth, J., Ramirez, L., Sipple, T., Garcia, A., Fish, F. E., & Kramer-Bottiglio, R. K. (2022) · Nature · doi:10.1038/s41586-022-05188-w · Cited by 330 · see citing works
Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
Neunert, M., Stäuble, M., Giftthaler, M., Bellicoso, C. D., Carius, J., Gehring, C., Hutter, M., & Buchli, J. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2800124 · Cited by 289 · see citing works
Self-citationPerceptive Locomotion Through Nonlinear Model-Predictive Control
Grandia, R., Jenelten, F., Yang, S., Farshidian, F., & Hutter, M. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2023.3275384 · Cited by 281 · see citing works
Self-citationGraph‐based subterranean exploration path planning using aerial and legged robots
Dang, T., Tranzatto, M., Khattak, S., Mascarich, F., Alexis, K., & Hutter, M. (2020) · Journal of Field Robotics · doi:10.1002/rob.21993 · Cited by 253 · see citing works
Self-citationData-Driven Model Predictive Control for Trajectory Tracking With a Robotic Arm
Carron, A., Arcari, E., Wermelinger, M., Hewing, L., Hutter, M., & Zeilinger, M. N. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2929987 · Cited by 245 · see citing works
Self-citationPer-Contact Iteration Method for Solving Contact Dynamics
Hwangbo, J., Lee, J., & Hutter, M. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2792536 · Cited by 243 · see citing works
Self-citationDeepGait: Planning and Control of Quadrupedal Gaits Using Deep Reinforcement Learning
Tsounis, V., Alge, M., Lee, J., Farshidian, F., & Hutter, M. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2979660 · Cited by 223 · see citing works
Self-citationAn Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., Wuthrich, M., Naveau, M., Berenz, V., Heim, S. W., Widmaier, F., Flayols, T., et al. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2976639 · Cited by 221 · see citing works
Keep Rollin’—Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
Bjelonic, M., Bellicoso, C. D., de Viragh, Y., Sako, D., Tresoldi, F. D., Jenelten, F., & Hutter, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2899750 · Cited by 219 · see citing works
Self-citationAdvances in real‐world applications for legged robots
Bellicoso, C. D., Bjelonic, M., Wellhausen, L., Holtmann, K., Günther, F., Tranzatto, M., Fankhauser, P., & Hutter, M. (2018) · Journal of Field Robotics · doi:10.1002/rob.21839 · Cited by 216 · see citing works
Self-citationRobust Rough-Terrain Locomotion with a Quadrupedal Robot
Fankhauser, P., Bjelonic, M., Bellicoso, C. D., Miki, T., & Hutter, M. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8460731 · Cited by 210 · see citing works
Self-citationDynamic Locomotion Through Online Nonlinear Motion Optimization for Quadrupedal Robots
Bellicoso, C. D., Jenelten, F., Gehring, C., & Hutter, M. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2794620 · Cited by 206 · see citing works
Self-citationJi, G., Mun, J., Kim, H., & Hwangbo, J. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3151396 · Cited by 208 · see citing works
Self-citationMulti-expert learning of adaptive legged locomotion
Yang, C., Yuan, K., Zhu, Q., Yu, W., & Li, Z. (2020) · Science Robotics · doi:10.1126/scirobotics.abb2174 · Cited by 207 · see citing works
Where Should I Walk? Predicting Terrain Properties From Images Via Self-Supervised Learning
Wellhausen, L., Dosovitskiy, A., Ranftl, R., Walas, K., Cadena, C., & Hutter, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2895390 · Cited by 195 · see citing works
Self-citationRepresentation-Free Model Predictive Control for Dynamic Motions in Quadrupeds
Ding, Y., Pandala, A., Li, C., Shin, Y.-H., & Park, H.-W. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2020.3046415 · Cited by 191 · see citing works
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
Wisth, D., Camurri, M., & Fallon, M. F. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3193788 · Cited by 183 · see citing works
CENTAURO: A Hybrid Locomotion and High Power Resilient Manipulation Platform
Kashiri, N., Cordasco, S., Guria, P., Margan, A., Tsagarakis, N. G., Baccelliere, L., Muratore, L., Laurenzi, A., Ren, Z., Hoffman, E. M., et al. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2896758 · Cited by 179 · see citing works
Extreme Parkour with Legged Robots
Cheng, X., Shi, K., Agarwal, A., & Pathak, D. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610200 · Cited by 183 · see citing works
Nahrendra, I. M. A., Yu, B., & Myung, H. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161144 · Cited by 177 · see citing works
Perception-less terrain adaptation through whole body control and hierarchical optimization
Bellicoso, C. D., Gehring, C., Hwangbo, J., Fankhauser, P., & Hutter, M. (2016) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2016.7803330 · Cited by 169 · see citing works
Self-citationKeep Rollin’ - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
Bjelonic, M., Bellicoso, C. D., de Viragh, Y., Sako, D., Tresoldi, F., Jenelten, F., & Hutter, M. (2019) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000323519 · Cited by 165 · see citing works
Self-citationDynamic locomotion and whole-body control for quadrupedal robots
Bellicoso, C. D., Jenelten, F., Fankhauser, P., Gehring, C., Hwangbo, J., & Hutter, M. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206174 · Cited by 162 · see citing works
Self-citationStanford Doggo: An Open-Source, Quasi-Direct-Drive Quadruped
Kau, N., Schultz, A., Ferrante, N., & Slade, P. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794436 · Cited by 150 · see citing works
Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
Wisth, D., Camurri, M., Das, S., & Fallon, M. F. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3056380 · Cited by 146 · see citing works
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control
Gangapurwala, S., Geisert, M., Orsolino, R., Fallon, M. F., & Havoutis, I. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3172469 · Cited by 145 · see citing works
Optimized Jumping on the MIT Cheetah 3 Robot
Nguyen, Q., Powell, M. J., Katz, B., Carlo, J. D., & Kim, S. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794449 · Cited by 138 · see citing works
Learning robust autonomous navigation and locomotion for wheeled-legged robots
Lee, J., Bjelonic, M., Reske, A., Wellhausen, L., Miki, T., & Hutter, M. (2024) · Science Robotics · doi:10.1126/scirobotics.adi9641 · Cited by 143 · see citing works
Self-citationVision-controlled jetting for composite systems and robots
Buchner, T. J. K., Rogler, S., Weirich, S., Armati, Y., Cangan, B. G., Ramos, J., Twiddy, S. T., Marini, D. M., Weber, A., Chen, D., et al. (2023) · Nature · doi:10.1038/s41586-023-06684-3 · Cited by 136 · see citing works
Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control
Grandia, R., Taylor, A. J., Ames, A. D., & Hutter, M. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561510 · Cited by 135 · see citing works
Self-citationALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot
Bellicoso, C. D., Krämer, K., Stäuble, M., Sako, D., Jenelten, F., Bjelonic, M., & Hutter, M. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794273 · Cited by 133 · see citing works
Self-citationANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot
Zimmermann, Y., Forino, A., Riener, R., & Hutter, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2926958 · Cited by 128 · see citing works
Self-citationElevation Mapping for Locomotion and Navigation using GPU
Miki, T., Wellhausen, L., Grandia, R., Jenelten, F., Homberger, T., & Hutter, M. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981507 · Cited by 126 · see citing works
Self-citationAgile and versatile climbing on ferromagnetic surfaces with a quadrupedal robot
Hong, S., Um, Y., Park, J.-J., & Park, H.-W. (2022) · Science Robotics · doi:10.1126/scirobotics.add1017 · Cited by 124 · see citing works
Go Fetch! - Dynamic Grasps using Boston Dynamics Spot with External Robotic Arm
Zimmermann, S., Poranne, R., & Coros, S. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561835 · Cited by 123 · see citing works
Control strategy of stable walking for a hexapod wheel-legged robot
Chen, Z., Wang, S., Wang, J., Xu, K., Lei, T., Zhang, H., Wang, X., Liu, D., & Si, J. (2020) · ISA Transactions · doi:10.1016/j.isatra.2020.08.033 · Cited by 120 · see citing works
Jenelten, F., He, J., Farshidian, F., & Hutter, M. (2024) · Science Robotics · doi:10.1126/scirobotics.adh5401 · Cited by 119 · see citing works
Self-citationPerceptive Locomotion in Rough Terrain – Online Foothold Optimization
Jenelten, F., Miki, T., Vijayan, A. E., Bjelonic, M., & Hutter, M. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.3007427 · Cited by 115 · see citing works
Self-citationA Review of Quadruped Robots: Structure, Control, and Autonomous Motion
Fan, Y., Pei, Z., Wang, C., Li, M., Tang, Z., & Liu, Q. (2024) · Advanced Intelligent Systems · doi:10.1002/aisy.202300783 · Cited by 115 · see citing works
Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review
He, J., & Gao, F. (2020) · Chinese Journal of Mechanical Engineering · doi:10.1186/s10033-020-00485-9 · Cited by 117 · see citing works
Trajectory Optimization for Wheeled-Legged Quadrupedal Robots Driving in Challenging Terrain
Medeiros, V. S., Jelavić, E., Bjelonic, M., Siegwart, R., Meggiolaro, M. A., & Hutter, M. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2990720 · Cited by 113 · see citing works
Self-citationTranzatto, M., Mascarich, F., Bernreiter, L., Godinho, C., Camurri, M., Khattak, S., Dang, T., Reijgwart, V., Loeje, J., Wisth, D., et al. (2022) · Field Robotics · doi:10.55417/fr.2022011 · Cited by 118 · see citing works
Self-citationBirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching
Badri–Spröwitz, A., Sarvestani, A. A., Sitti, M., & Daley, M. A. (2022) · Science Robotics · doi:10.1126/scirobotics.abg4055 · Cited by 112 · see citing works
Learning to Walk in the Real World with Minimal Human EffortPreprint
Ha, S., Xu, P., Tan, Z., Levine, S., & Tan, J. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2002.08550 · Cited by 126 · see citing works
Pronto: A Multi-Sensor State Estimator for Legged Robots in Real-World Scenarios
Camurri, M., Ramezani, M., Nobili, S., & Fallon, M. F. (2020) · Frontiers in Robotics and AI · doi:10.3389/frobt.2020.00068 · Cited by 106 · see citing works
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Meduri, A., Shah, P., Viereck, J., Khadiv, M., Havoutis, I., & Righetti, L. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3228390 · Cited by 107 · see citing works
Flexible Motion Framework of the Six Wheel-Legged Robot: Experimental Results
Wang, S., Chen, Z., Li, J., Wang, J., Li, J., & Zhao, J. (2021) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3100879 · Cited by 98 · see citing works
Legged Robots that Keep on Learning: Fine-Tuning Locomotion Policies in the Real World
Smith, L., Kew, J. C., Peng, X. B., Ha, S., Tan, J., & Levine, S. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9812166 · Cited by 100 · see citing works
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Jenelten, F., Grandia, R., Farshidian, F., & Hutter, M. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3186804 · Cited by 95 · see citing works
Self-citationLearning a State Representation and Navigation in Cluttered and Dynamic Environments
Hoeller, D., Wellhausen, L., Farshidian, F., & Hutter, M. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3068639 · Cited by 93 · see citing works
Self-citationModel predictive control of legged and humanoid robots: models and algorithms
Katayama, S., Murooka, M., & Tazaki, Y. (2023) · Advanced Robotics · doi:10.1080/01691864.2023.2168134 · Cited by 91 · see citing works
A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control
Giftthaler, M., Neunert, M., Stäuble, M., Buchli, J., & Diehl, M. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593840 · Cited by 89 · see citing works
Robust Legged Robot State Estimation Using Factor Graph Optimization
Wisth, D., Camurri, M., & Fallon, M. F. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2933768 · Cited by 87 · see citing works
Safe Robot Navigation Via Multi-Modal Anomaly Detection
Wellhausen, L., Ranftl, R., & Hutter, M. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2967706 · Cited by 86 · see citing works
Self-citationMa, Y., Farshidian, F., Miki, T., Lee, J., & Hutter, M. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3143567 · Cited by 87 · see citing works
Self-citationDynamic Locomotion on Slippery Ground
Jenelten, F., Hwangbo, J., Tresoldi, F., Bellicoso, C. D., & Hutter, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2931284 · Cited by 84 · see citing works
Self-citationRoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications
der Maur, P. A., Djambazi, B., Haberthur, Y., Hormann, P., Kübler, A. M., Lustenberger, M., Sigrist, S., Vigen, O., Förster, J., Achermann, F., et al. (2021) · IEEE International Conference on Soft Robotics (RoboSoft) · doi:10.1109/robosoft51838.2021.9479192 · Cited by 85 · see citing works
Design of Dynamic Legged Robots
Kim, S., & Wensing, P. M. (2017) · Foundations and Trends in Robotics · doi:10.1561/2300000044 · Cited by 81 · see citing works
Jumping over obstacles with MIT Cheetah 2
Park, H.-W., Wensing, P. M., & Kim, S. (2020) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2020.103703 · Cited by 80 · see citing works
A study on quadruped mobile robots
Taheri, H., & Mozayani, N. (2023) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2023.105448 · Cited by 80 · see citing works
Weaver: Hexapod robot for autonomous navigation on unstructured terrain
Bjelonic, M., Kottege, N., Homberger, T., Borges, P., Beckerle, P., & Chli, M. (2018) · Journal of Field Robotics · doi:10.1002/rob.21795 · Cited by 78 · see citing works
Highly-Integrated Hydraulic Smart Actuators and Smart Manifolds for High-Bandwidth Force Control
Barasuol, V., Villarreal, O., Sangiah, D., Frigerio, M., Baker, M., Morgan, R., Medrano‐Cerda, G. A., Caldwell, D. G., & Semini, C. (2018) · Frontiers in Robotics and AI · doi:10.3389/frobt.2018.00051 · Cited by 76 · see citing works
Versatile multicontact planning and control for legged loco-manipulation
Sleiman, J.-P., Farshidian, F., & Hutter, M. (2023) · Science Robotics · doi:10.1126/scirobotics.adg5014 · Cited by 80 · see citing works
Self-citationNot Only Rewards but Also Constraints: Applications on Legged Robot Locomotion
KIM, Y. H., Oh, H., Lee, J., Choi, J., Ji, G., Jung, M., Youm, D., & Hwangbo, J. (2024) · IEEE Transactions on Robotics · doi:10.1109/tro.2024.3400935 · Cited by 76 · see citing works
Self-citationSantina, C. D., Catalano, M. G., & Bicchi, A. (2020) · Springer eBooks · doi:10.1007/978-3-642-41610-1_146-1 · Cited by 73 · see citing works
Guided Constrained Policy Optimization for Dynamic Quadrupedal Robot Locomotion
Gangapurwala, S., Mitchell, A., & Havoutis, I. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2979656 · Cited by 73 · see citing works
A survey on modularity and distributivity in series-parallel hybrid robots
Kumar, S., Wöhrle, H., Fernández, J. D. G., Müller, A., & Kirchner, F. (2020) · Mechatronics · doi:10.1016/j.mechatronics.2020.102367 · Cited by 71 · see citing works
Design and Dynamic Locomotion Control of Quadruped Robot with Perception-Less Terrain Adaptation
Wang, L., Meng, L., Kang, R., Liu, B., Gu, S., Zhang, Z., Meng, F., & Ming, A. (2022) · Cyborg and Bionic Systems · doi:10.34133/2022/9816495 · Cited by 71 · see citing works
Perceptive whole‐body planning for multilegged robots in confined spaces
Buchanan, R., Wellhausen, L., Bjelonic, M., Bandyopadhyay, T., Kottege, N., & Hutter, M. (2020) · Journal of Field Robotics · doi:10.1002/rob.21974 · Cited by 69 · see citing works
Self-citationForceful manipulation with micro air vehicles
Estrada, M. A., Mintchev, S., Christensen, D. L., Cutkosky, M. R., & Floreano, D. (2018) · Science Robotics · doi:10.1126/scirobotics.aau6903 · Cited by 69 · see citing works
High-speed quadrupedal locomotion by imitation-relaxation reinforcement learning
Jin, Y., Liu, X., Shao, Y., Wang, H., & Yang, W. (2022) · Nature Machine Intelligence · doi:10.1038/s42256-022-00576-3 · Cited by 69 · see citing works
Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion
Buchner, T. J. K., Fukushima, T., Kazemipour, A., Gravert, S.-D., Prairie, M., Romanescu, P., Arm, P., Zhang, Y., Wang, X., Zhang, S. L., et al. (2024) · Nature Communications · doi:10.1038/s41467-024-51568-3 · Cited by 68 · see citing works
Hwangbo, J., Bellicoso, C. D., Fankhauser, P., & Hutter, M. (2016) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7759570 · Cited by 66 · see citing works
Self-citationHeterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots
Nobili, S., Camurri, M., Barasuol, V., Focchi, M., Caldwell, D. G., Semini, C., & Fallon, M. F. (2017) · Robotics: Science and Systems · doi:10.15607/rss.2017.xiii.007 · Cited by 63 · see citing works
Chitikena, H., Sanfilippo, F., & Ma, S. (2023) · Applied Sciences · doi:10.3390/app13031800 · Cited by 65 · see citing works
Adaptive Force-based Control for Legged Robots
Sombolestan, M., Chen, Y., & Nguyen, Q. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636393 · Cited by 63 · see citing works
Walking Posture Adaptation for Legged Robot Navigation in Confined Spaces
Buchanan, R., Bandyopadhyay, T., Bjelonic, M., Wellhausen, L., Hutter, M., & Kottege, N. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2899664 · Cited by 63 · see citing works
Self-citationRough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning
Wellhausen, L., & Hutter, M. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636358 · Cited by 59 · see citing works
Self-citationOnline LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure
Ramezani, M., Tinchev, G., Egor, I., & Fallon, M. F. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9196769 · Cited by 57 · see citing works
Virtual Model Control for Quadruped Robots
Chen, G., Guo, S. L., Hou, B., & Wang, J. (2020) · IEEE Access · doi:10.1109/access.2020.3013434 · Cited by 58 · see citing works
Learning-based legged locomotion: State of the art and future perspectives
Ha, S., Lee, J., van de Panne, M., Xie, Z., Yu, W., & Khadiv, M. (2025) · The International Journal of Robotics Research · doi:10.1177/02783649241312698 · Cited by 63 · see citing works
Benchmarking Classic and Learned Navigation in Complex 3D EnvironmentsPreprint
Mishkin, D., Dosovitskiy, A., & Koltun, V. (2019) · arXiv (Cornell University) · doi:10.48550/arxiv.1901.10915 · Cited by 57 · see citing works
Bayer, J., & Faigl, J. (2019) · European Conference on Mobile Robots · doi:10.1109/ecmr.2019.8870968 · Cited by 56 · see citing works
Development of a Quadruped Robot System With Torque-Controllable Modular Actuator Unit
Lee, Y. H., Lee, Y. H., Lee, H., Kang, H., Lee, J., Phan, L. T., Jin, S., Kim, Y. B., Seok, D.-Y., Lee, S. Y., et al. (2020) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2020.3007084 · Cited by 52 · see citing works
Design and Control of a Miniature Bipedal Robot with Proprioceptive Actuation for Dynamic Behaviors
Liu, Y., Shen, J., Zhang, J., Zhang, X., Zhu, T., & Hong, D. W. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9811790 · Cited by 52 · see citing works
A Survey of Traversability Estimation for Mobile Robots
Sevastopoulos, C., & Konstantopoulos, S. (2022) · IEEE Access · doi:10.1109/access.2022.3202545 · Cited by 55 · see citing works
Design and Control for WLR-3P: A Hydraulic Wheel-Legged Robot
Li, X., Yu, H., Feng, H., Zhang, S., & Fu, Y. (2023) · Cyborg and Bionic Systems · doi:10.34133/cbsystems.0025 · Cited by 52 · see citing works
Inertial Measurement Units (IMUs) in Mobile Robots over the Last Five Years: A Review
Samatas, G. G., & Pachidis, T. P. (2022) · Designs · doi:10.3390/designs6010017 · Cited by 51 · see citing works
Coupling Vision and Proprioception for Navigation of Legged Robots
Fu, Z., Kumar, A., Agarwal, A., Qi, H., Malik, J., & Pathak, D. (2022) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr52688.2022.01676 · Cited by 51 · see citing works
Smith, L., Kostrikov, I., & Levine, S. (2023) · Robotics: Science and Systems · doi:10.15607/rss.2023.xix.056 · Cited by 50 · see citing works
Frequency-Aware Model Predictive Control
Grandia, R., Farshidian, F., Dosovitskiy, A., Ranftl, R., & Hutter, M. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2895882 · Cited by 51 · see citing works
Self-citationFast and flexible multilegged locomotion using learned centroidal dynamics
Kwon, T., Lee, Y., & van de Panne, M. (2020) · ACM Transactions on Graphics · doi:10.1145/3386569.3392432 · Cited by 51 · see citing works
Adaptive Feet for Quadrupedal Walkers
Catalano, M. G., Pollayil, M. J., Grioli, G., Valsecchi, G., Kolvenbach, H., Hutter, M., Bicchi, A., & Garabini, M. (2021) · IEEE Transactions on Robotics · doi:10.1109/tro.2021.3088060 · Cited by 51 · see citing works
Self-citation
- Authors
- Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., Diethelm, R., Bachmann, S., Melzer, A., & Hoepflinger, M.
- Affiliations
- ETH Zurich (CH)
- ORCID
- Venue
- 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Publisher
- IEEE
- Published
- 2016-10
- Pages
- 38-44
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W4250058668
- Cited by
- 969
- References
- 28
- Citations by year
- 2026: 65 · 2025: 147 · 2024: 148 · 2023: 128 · 2022: 130 · 2021: 109 · 2020: 101 · 2019: 69 · 2018: 44 · 2017: 22 · 2016: 6
- FWCI
- 94.15
- Type
- conference paper
- Language
- en
- Open access
- green
- hdl.handle.net
- Licence
- other-oa
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
- Repository for Publications and Research Data (ETH Zurich) (submittedVersion, other-oa)
- ETH Zürich Research Collection
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- ANYmal, quadrupedal robots, legged robots, torque control, gait, trotting, stair climbing, outdoor robots, dynamic locomotion
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
