The DOI matches its Crossref record; 28 of the 28 references it cites were found in a registry or an index.
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.
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“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]
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Cites
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BigDog, the Rough-Terrain Quadruped Robot
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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
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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
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
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
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
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
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
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Research works printed but not linked: 2
- boaventura, 2013, Hydraulic Compliance Control of the Quadruped Robot HyQ
- 0, ATLAS Robot, Boston Dynamics
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Items 901–969 of 969
FlipWalker: Jacob’s Ladder toy-inspired robot for locomotion across diverse, complex terrain
Li, D., Ralston, N., Hagen, B., Tan, P., & Robertson, M. A. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247396
“…or reported COT, often reflecting different locomotion modes (e.g., rolling vs. driving), together with the vehicle’s overall mass. Notably, ANYmal [40] and Cheetah-Cub [41] appear in different categories despite both being legged systems, illustrating that size alone can shape operating…”
da Silva, M. V., Carvalho, M. H., Negri, J. D., Segreto, T. H., Lahr, G. J. G., de Godoy, R. V., & Becker, M. (2025) · Latin American Robotics Symposium, Brazilian Symposium on Robotics and Workshop on Robotics in Education (LARS/SBR/WRE) · doi:10.1109/lars69345.2025.11272961
“While familiar, these interfaces present steep learning curves and high cognitive loads, especially for non-experts controlling high-DoF manipulators on mobile platforms [7].”
LAURON VI: A Six-Legged Robot for Dynamic Walking
Eichmann, C., Bellmann, S., Hügel, N., Enslin, L.-E., Plasberg, C., Heppner, G., Roennau, A., & Dillmann, R. (2025) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm65671.2025.11293559 · Cited by 2
“With Mini Cheetah [23], Katz et al. presented a highly dynamic 9 kg quadruped with the ability to do backflips and various dynamic gaits [24].”
Robust State Estimation of Quadruped Robots via Force Observer-Based IMU Bias Compensation
Kim, J. H., Lee, J., Hong, J., & Oh, S. (2025) · International Conference on Control, Automation and Systems (ICCAS) · doi:10.23919/iccas66577.2025.11301365
“Quadruped robots have demonstrated mobility across a variety of unstructured terrains—including uneven ground, staircases, and moving platforms—due to their highly adaptable morphology [1], [2].”
Yan, K., Gao, P., Li, C., Liu, H., Jiao, J., Yan, Q., & Yang, D. (2026) · Lecture notes in mechanical engineering · doi:10.1007/978-981-95-3654-2_5
Model Predictive Control for Quadrupedal Robots with Neural-based Adaptation
Николаевич, Б. Д., Lyahovsky, M., & Dobriborsci, D. (2025) · International Conference on Control, Decision and Information Technologies (CoDIT) · doi:10.1109/codit66093.2025.11321498
“For nonlinear systems, approaches like the Nonlinear Quadratic Regulator (NQR) [11] and Nonlinear MPC (NMPC) [12] offer improved accuracy but incur high computational costs, particularly over long prediction horizons.”
Semantics-Aware Path Planning for Quadrupedal Robots
Lima, R. R., Carvalho, L. D. F., Cid, A. L. M., de Barros, L. G. D., Pessin, G., & Freitas, G. M. (2025) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar65334.2025.11338670
“The quadruped ANYmal robot from ANYbotics 1 was designed for autonomous inspection missions in industrial plants, including applications in power and utilities, mining, oil and gas, chemicals, railway and transportation units [6], [7].”
Quadrupedal Locomotion Control in Complex Terrains Based on Deep Reinforcement Learning
Chen, Z., Mao, J., & Zhang, C. (2025) · International Conference on Robotics, Control and Automation Engineering (RCAE) · doi:10.1109/rcae66389.2025.11355325
“Quadrupedal robots have demonstrated remarkable potential in complex scenarios such as disaster response, exploration, and power infrastructure inspection due to their superior terrain adaptability and locomotion flexibility [1].”
Design and Research of Quadruped Robot with Fully Fixed Actuators By Multi-Stage Coaxial Mechanism
Hou, R., Song, M., Chen, T., & Chen, R. (2025) · International Conference on Control, Mechatronics and Automation (ICCMA) · doi:10.1109/iccma67641.2025.11369500
“ETH Zurich's ANYmal Robot[3] utilizes serial elastic actuation, detecting joint torque through elastic deformation to enable higher reduction ratios and greater torque output.”
Reinforcement Learning Control for Blind Walking of Quadruped Robot in Sand Terrain
Xu, N., Shou, X., Han, L., Wang, W., & Qi, C. (2025) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio66223.2025.11377185
“In recent years, deep reinforcement learning (DRL) has made significant progress in the field of motion control for quadrupedal robots [12-15] .”
Contact and Slippage Detection for Legged Robot with Magnetoelastic Force Sensing
Chen, Y., Xia, J., Bai, Y., Li, W., Wu, X., Melo, K., & Guo, J. (2025) · International Conference on Robotics, Intelligent Control and Artificial Intelligence (RICAI) · doi:10.1109/ricai68060.2025.11385309
Singh, R. K. (2026) · i-manager s Journal on Augmented & Virtual Reality · doi:10.26634/javr.3.2.22908
ROSCOE: Robot Scanning and Computing Equipment for Autonomous Terrestrial Mapping
Raheema, J., Farrell, S., Hess, M., Provost, R. C., Bilinski, M., & Christensen, H. I. (2026) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii64115.2026.11404690
“In the DARPA Subterranean (SubT) Challenge, the first-place winner, Team CERBERUS [13], developed a fully autonomous exploration system integrated onto the ANY-mal quadruped robot [14].”
Study on Roller-Walker: Development of Roller-Walker II Using 3D Printed Structural Components
Ito, H., Okubo, A., Osawa, K., Aruga, T., & Endo, G. (2026) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii64115.2026.11404467
Cost-Effective Biomimicking Quadruped Robot for STEM Education
Anand, A., Sharma, A., & Singh, S. (2025) · International Conference on Intelligent Computing and Systems at the Edge (ICEdge) · doi:10.1109/icedge67252.2025.11412856
Learning from Human-Dog Collaboration: Towards the Design of Search and Rescue Robots
Kleiser, K. L., Buntsma, V., & Schneider, S. (2026) · ACM/IEEE International Conference on Human-Robot Interaction (HRI) · doi:10.1145/3776734.3794545
Yew, E. A. T., Tao, Z., Cai, H., Kong, Z., Zhou, B., Zhang, L., & Sun, S. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3675964
“The introduction of Series Elastic Actuator (SEA) [6], implemented in quadruped robots such as ANYmal [7] and StarlETH [8], improves compliance [9] and facilitated impact absorption; however, SEAs require continuous motor engagement to maintain precise trajectory control, offering limited relief…”
Development of Worm gear-based Series Elastic Actuator for Torque-efficient Vibration Isolation
Shin, K., & Oh, S. (2026) · IEEE International Workshop on Advanced Motion Control (AMC) · doi:10.1109/amc67705.2026.11435840
“This provides a crucial advantage in protecting the system from sudden disturbances, which is why SEAs are utilized in legged robots exposed to repetitive impact [10].”
MRISA: A Visual Analytics Approach of Locomotion Policies Comparison for Robotics Training
Li, N., Shi, F., Zhang, X., & Wang, A. Y. (2025) · Graphics Interface · doi:10.1145/3769872.3769898
“MRISA currently uses a URDF model from ANYmal [27].”
Optimal swimming with body compliance in an overdamped medium
Lin, J., Wang, T., Chong, B., Fernandez, M., Xu, Z., & Goldman, D. I. (2026) · Physical Review Applied · doi:10.1103/pbkh-py5h
Beyond Cybathlon: on-demand quadrupedal assistance for people with limited mobility
Scheidemann, C., Cramariuc, A., Chen, C., Chiu, J.-R., & Hutter, M. (2026) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/s12984-026-01932-9
“As such, most existing solutions for electric wheelchair users focus on robotic arms mounted directly onto the wheelchair [12, 32, 1].”
Self-citationResilient Trajectory Tracking Control for Quadruped Robots Under DoS Attacks and Input Deadzones
Li, Z., Zheng, S., Yang, J., Zhang, Y., Zhang, H., & Li, S. (2025) · China Automation Congress (CAC) · doi:10.1109/cac67268.2025.11487867
“Quadruped robots have shown great potential in applications such as emergency response and disaster relief [1], [2].”
Multi-level cognitive control and terrain adaptive quadruped robot simulation in MATLAB
Prem Sankar, N., J, S. P., Harish, T., & Nair, N. S. (2026) · EPJ Web of Conferences · doi:10.1051/epjconf/202636701007
Determination of Workspace of a Quadruped Robot in Motion Planning and Control Problems
Saypulaev, G. R., Saypulaev, M. R., Mohamed, A. M., Kazarinova, A. S., Sibirtsev, N. A., & A, L. A. (2026) · International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE) · doi:10.1109/reepe69046.2026.11481437
“For complex terrain, algorithms combining predictive planning and reactive stabilization, such as those used for the ANYmal robot [7], are effective.”
Robotics for Forest Status Assessment
Tolomei, S., Lorenzo, G. D., Angelini, F., de Simone, L., Fanfarillo, E., Fiaschi, T., Cannucci, S., Maccherini, S., Remagnino, P., Angiolini, C., et al. (2026) · Studies in computational intelligence · doi:10.1007/978-3-032-15812-3_21
Zhang, K., Zhang, H. D., Chen, H., Chen, G., Jiao, Z., Zhang, Y., Chen, W., Wang, X. Z., & Liu, J. (2026) · Drones · doi:10.3390/drones10050392
Vision-Based Person-Following Algorithm for Assistive Elderly-Care Quadruped Robots
Kurumbaparambil, V., Rajanayagam, S., & Twieg, S. (2026) · Sensors · doi:10.3390/s26103263
“Low-cost quadruped robots [33,34], such as the Unitree Go1, are increasingly popular in research.”
Static and Dynamic Dispatch in Robotics Control Loops: A Practical Performance Study in Rust
Mostoslavski, D., Mejia, D., Wu, X., & Melo, K. (2026) · International Conference on Mechatronics and Robotics Engineering (ICMRE) · doi:10.1109/icmre69538.2026.11533996
Extreme dynamic symmetry enables omnidirectional and multifunctional robots
Liu, J., Xia, B., & Chen, B. (2026) · Science Robotics · doi:10.1126/scirobotics.aec1725
Quadruped Robot Motion Control Based on an Improved PPO Algorithm
Yu, E., Wang, S., Teng, Z., Wang, L., & Tang, X. (2026) · Machines · doi:10.3390/machines14060621
Autonomous Navigation System for Library Service Robot Based on Unitree Go2 Edu
Li, A., Lv, H., Ou, B., Li, J., Li, Y., & Li, Z. (2026) · World Conference on Computer and Information Security (WCCIS) · doi:10.1109/wccis70285.2026.11650813
“These properties are operationally useful even in an otherwise flat environment [1].”
Comparing Robotic Mobile Solutions for Commercial Greenhouse Field Mapping
Mendoza-Garcia, R.-F., Santander-Marquez, D.-E., & Lau-Cortes, Y.-S. (2025) · IEEE Conference on AgriFood Electronics (CAFE) · doi:10.1109/cafe66884.2025.11547452
“Swivel wheels provide greater maneuverability, omni-directional wheels allow movement in any direction without requiring the robot to turn [8], and caterpillar tracks or legs offer improved traction on uneven or soft surfaces [9].”
12-DOF Quadruped Locomotion on Low-Cost Embedded Hardware Using Predefined Gaits and Drift Tuning
Akbar, U. U., Uddin, M. S., Khan, H., & Uddin, R. (2026) · International Conference on Robotics and Automation in Industry (ICRAI) · doi:10.1109/icrai70912.2026.11551945
“These methods have demonstrated strong dynamic performance, but they usually assume higher computational resources, more advanced actuation hardware, and tighter modeling/estimation pipelines than are typically available in low-cost embedded platforms [1], [6-8].”
DynaSki: A Robust Locomotion Framework for Dynamic Skiing Robot on Challenging Terrains
Wang, T., Chen, Z., Yin, Y., Yang, L., Wang, L., Yu, F., & Gao, F. (2026) · Journal of Field Robotics · doi:10.1002/rob.70255
Empowering the Unitree Go2 Pro for Elderly Care via WebRTC
Díaz-Labrador, A., Arcano-Bea, P., Delgado, Á., Pérez-Iglesias, H. J., Fontenla-Romero, Ó., & ROLLE, J. L. C. (2026) · Communications in computer and information science · doi:10.1007/978-3-032-29254-4_11
Quadruped Locomotion in Human Spaces: Perception-Aware Whole-Body Stabilization
Rahman, M. H., Mysorewala, M. F., Haque, T. S., & Ferik, S. E. (2026) · International Multi-Conference on Systems, Signals & Devices (SSD) · doi:10.1109/ssd69655.2026.11559000
“Quadruped platforms such as ANYmal, HyQ, and MIT Cheetah have demonstrated robust loco-manipulation [11]–[13], but controllers are typically tuned for agility and disturbance rejection rather than for comfort during arm-length interaction.”
Ni, J., & Li, Q. (2026) · International Symposium on New Energy Technology Innovation and Low Carbon Development (NET-LC) · doi:10.1109/net-lc70284.2026.11605534
“An inner-rotor surface-mount permanent magnet motor was designed for quadrupedal robots, featuring high torque density; Hutter et al. [2] proposed a permanent magnet motor capable of highly precise static torque control; and Anglel et al. designed a permanent magnet motor capable of achieving high…”
A Hybrid Control Architecture for Dynamic Terrain Adaptation of Legged-Wheeled Robots
Lu, D., Chen, Z., Liu, X., Liang, L., Feng, W., Wang, Z., He, Y., & Wang, Z. (2026) · International Conference on Robotics and Control Engineering (RobCE) · doi:10.1145/3820709.3820747
“Legged-wheeled robots combine the high efficiency of wheeled locomotion with the superior obstacle-crossing capability of legged systems, making them ideal platforms for logistics, field exploration, and disaster rescue scenarios [1].”
Advances, challenges, and opportunities for legged robots
Frey, J., Mattamala, M., Park, H.-W., Mittal, M., Martius, G., Osborne, M. A., Sparrow, R., & Hutter, M. (2026) · Science Robotics · doi:10.1126/scirobotics.aee0787 · Cited by 2
“However, hydraulic systems are hindered by mechanical complexity, high production and maintenance costs, low efficiency, and practical issues such as noise and oil leakage ( 34,35 ).”
Self-citationComputational Design Framework for a Compact Multi-axis Contact Force Sensing Mechanism
Zhu, A., Tanaka, Y., Ku, C., & Hong, D. (2026) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur69537.2026.11626775
“R ELATED W ORKS A. Force, Contact, and Tactile Sensing on End-Effectors force and torque (F/T) sensing is fundamental in legged robots, with both single-and multi-axis F/T sensors widely adopted for interaction and balance control [12].”
Quadruped Robot Modeling by Mirroring Bipedal Robot for Trot Gait Simulation
Alatise, A., Khan, R., & Shafie, A. A. (2026) · SciEn Conference Series Engineering · doi:10.38032/scse.2026.4.310
“We now have advanced robots like HYQ Bot, MIT’s Cheetah, ETH Zurich’s ANYmal, StarlETH etc[2-3].”
Tang, Q. (2025) · International Conference Mechatronics and Mechanical Engineering · doi:10.1109/icmme66407.2025.00039
“Prominent examples include Boston Dynamics' Spot [1].”
A Morphology-Reconfigurable Quadruped Robot with Differentially Coupled Actuation
Zhou, Y., Xin, Q., & Chen, G. (2026) · Youth Academic Annual Conference of Chinese Association of Automation (YAC) · doi:10.1109/yac71005.2026.11616163
“Although some designs introduce active morphology reconfiguration by adding an actuator directly at the knee joint [12]–[14], this strategy inevitably increases distal mass and rotational inertia, degrading dynamic bandwidth and energy efficiency.”
Zhang, H., Li, W., & Li, M. (2026) · Youth Academic Annual Conference of Chinese Association of Automation (YAC) · doi:10.1109/yac71005.2026.11615876
Lan, K., Jiang, L., Tao, Y., Fu, C., Jin, Y., & Wang, H. (2026) · Biomimetics · doi:10.3390/biomimetics11080565
“…and mechanical layouts still employ approximately symmetric trunk structures and, for simplified modeling and mechanical design, place or approximate the center of mass (CoM) near the geometric middle of the trunk to reduce the complexity of structural analysis and controller development [20–22].”
Goga, J., Kovac, M. M., Dekan, M., Pavlovičová, J., & Duchoň, F. (2026) · Applied Sciences · doi:10.3390/app16168262
Terrain Stiffness Estimation on a Leg-Wheel Transformable Robot
Xiao, Y.-A., Shen, Y.-S., Yu, W.-S., & Lin, P. (2026) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim65483.2026.11658204
“Legged robots, such as ANYmal [1], HyQ [2], and MIT Cheetah [3], demonstrate superior mobility in complex environments [4]–[8].”
Performance Evaluation of McKibben-Type Artificial Muscles
Koizumi, R., Yoshida, T., NAGASAWA, H., Hashimoto, T., & Kobayashi, H. (2026) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim65483.2026.11658135
“Although systems in which humans and robots collaborate have been developed [1]–[4], assist suits have also been actively developed with the aim of reducing physical burden.”
A unified CPG-based and multi-agent control framework for low-cost quadruped robots
Wu, L., Zhang, M., & Wang, W. (2026) · PLoS ONE · doi:10.1371/journal.pone.0356505
Chen, Y., Song, Z., & Yu, J. (2026) · Electronics · doi:10.3390/electronics15173834
Chen, Z., Liu, Y., Wen, H., Song, Z., Fukuda, T., Chen, X., & Shi, Q. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3728379
“Model-based kinematic filters [2], [3] are computationally efficient and physically interpretable, but their performance deteriorates when contact conditions, body compliance, or unmodeled disturbances invalidate the assumed geometry.”
A hierarchical multi-encoder fusion architecture for robust quadrupedal locomotion
Tang, L., Zhao, Y., Wu, H., & Wei, S. (2026) · International Journal of Advanced Robotic Systems · doi:10.1177/17298806261477177
The Impact of Hybrid Optimizers on Policy Approximation in Deep Reinforcement Learning
Tomiło, P., Michałowska, J., Кочан, Р. В., Кочан, О. В., & Kochan, V. (2026) · International Conference on Methods and Models in Automation and Robotics · doi:10.1109/mmar70562.2026.11667867
Online GP-MPC Command Supervision for Robust Reinforcement Learning-Based Quadruped Locomotion
Lee, S., & Yang, H. (2026) · Biomimetics · doi:10.3390/biomimetics11090641
Noh, S.-W., Yeo, M.-H., Jung, S.-J., Jang, M.-J., & Kim, J.-Y. (2026) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-026-01618-1
Ryu, S.-H., & Kim, J.-Y. (2026) · The Journal of Korea Robotics Society · doi:10.7746/jkros.2026.21.3.290
Xu, Z., Fan, J., Wu, Q., Zhu, H., & Chen, X. (2026) · Structural Control and Health Monitoring · doi:10.1155/stc/8468521
An Integrated Edge-AI Architecture for Unstructured Off-Road Navigation
Adinolfi, T., Amato, E., Carletti, V., Guarini, A., Saggese, A., & Vento, M. (2026) · Lecture notes in computer science · doi:10.1007/978-3-032-39518-4_35
Risk-Aware Cooperative Aerial–Ground System for Adaptive Autonomous Navigation and Transport
Hari, S., Sahu, A., & Kumar, R. P. (2026) · IEEE International Conference on Electronics, Computing and Communication Technologies (CONECCT) · doi:10.1109/conecct68978.2026.11700627
“Legged robots have demonstrated remarkable adaptability in complex terrain [2], [3], and hybrid wheeled–legged systems combine the efficiency of wheels with the versatility of articulated limbs [4], [5], [6].”
Design and Development of a Micro-ROS Based Semi-Autonomous Quadruped Robot
J, A. A. K., Sreekanth, A., Chaithanya, U., D, D. M., Athira, M., & Julia, T. (2026) · International Conference on Innovations in Mechanical, Robotics, Computing and Biomedical Engineering (ICIMRBE) · doi:10.1109/icimrbe70745.2026.11710025
“[9] While advancements continue, a number of issues remain.”
InfluentialChen, S., Korrapati, P., Krovi, V., & Gupta, S. K. (2026) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case69030.2026.11704483
Morgan, J., & Agheli, M. (2026) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57385.2026.11695825
“For legged robots, two dominant paradigms exist: point-contact feet [1], [2] and wheeled EEs [3], [4].”
Autonomous Industrial Inspection with Quadruped Robots: A Systematic Literature Review
Martins, J. F., Lopes, M. S. R., & Silva, M. F. (2026) · Robotics · doi:10.3390/robotics15100204
TOYAMA, J., & Hisashi, D. A. T. E. (2026) · SICE Annual Conference (SICE) · doi:10.23919/sicefes71276.2026.11739033
“For this reason, research and development of quadruped robots have been actively conducted[1, 2].”
Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning
Makoviychuk, V., Wawrzyniak, L., Guo, Y., Lu, M., Storey, K., Macklin, M., Hoeller, D., Rudin, N., Allshire, A., Handa, A., et al. (2021) · arXiv · doi:10.48550/arxiv.2108.10470 · Cited by 509
“The reward function is as follows: reaching cost ANYmal Locomotion For the included flat-terrain environment, observations are detailed in Table 8 and the reward function is as follows: For rough terrain locomotion with sim-to-real, we extend the observations with 140 terrain heights around the robot’s base and use the…”
BackgroundInfluential
Metadata
- 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
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- 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 › Control and Systems 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 ›
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