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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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Design of HyQ – a hydraulically and electrically actuated quadruped robot
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Contribution to the Synthesis of Biped Gait
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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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- boaventura, 2013, Hydraulic Compliance Control of the Quadruped Robot HyQ
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Items 101–200 of 969
Burden, S. A., Libby, T., Jayaram, K., Sponberg, S., & Donelan, J. M. (2024) · Science Robotics · doi:10.1126/scirobotics.adi9754 · Cited by 50
On the Stiffness Selection for Torque-Controlled Series-Elastic Actuators
Roozing, W., Malzahn, J., Kashiri, N., Caldwell, D. G., & Tsagarakis, N. G. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2726141 · Cited by 48
“Important applications of force controlled actuators include interaction with humans and/or the environment, such as in rehabilitation [9] or assistive [11] devices, humanoids and field robots [12]–[14], [16] meant to operate in partially known and unstructured workspaces, where unexpected collisions are common.”
BackgroundThe Two-State Implicit Filter Recursive Estimation for Mobile Robots
Bloesch, M., Burri, M., Sommer, H., Siegwart, R., & Hutter, M. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2776340 · Cited by 46
Self-citationOptimal Tuning of PID Controller Using Grey Wolf Optimizer Algorithm for Quadruped Robot
Şen, M. A., & Kalyoncu, M. (2018) · Balkan Journal of Electrical and Computer Engineering · doi:10.17694/bajece.401992 · Cited by 47
Lakatos, D., Ploeger, K., Loeffl, F., Seidel, D., Schmidt, F., Gumpert, T., John, F. I., Bertram, T., & Albu‐Schäffer, A. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2857511 · Cited by 47
“which are based upon hydraulic/pneumatic actuators [10]–[13], electrically powered direct drives [14], and compliantly actuated systems [15]–[17].”
Comparative anatomy of quadruped robots and animals: a review
Fukuhara, A., GUNJI, M., & MASUDA, Y. (2022) · Advanced Robotics · doi:10.1080/01691864.2022.2086018 · Cited by 49
Path Planning With Local Motion Estimations
Guzzi, J., Chavéz-García, R. O., Nava, M., Gambardella, L. M., & Giusti, A. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2972849 · Cited by 46
“A. Simulated ANYmal 1) Robot and Environment: ANYmal [22] is a state-of-the-art quadruped robot developed at ETHZ for autonomous operation in challenging environments, with the ability to walk on rough terrain.”
BackgroundProprioceptive Sensor Fusion for Quadruped Robot State Estimation
Fink, G., & Semini, C. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341521 · Cited by 46
Beyçimen, S., Ignatyev, D., & Zolotas, A. C. (2023) · Engineering Science and Technology an International Journal · doi:10.1016/j.jestch.2023.101457 · Cited by 56
“The method was validated using an ANYmal quadruped robot [58] in an unstructured environment including terrain types such as asphalt, dirt, sand, and grass, and under different weather and light conditions.”
Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs
Badri–Spröwitz, A., Tuleu, A., Ajallooeian, M., Vespignani, M., Möckel, R., Eckert, P., D'Haene, M., Degrave, J., Nordmann, A., Schrauwen, B., et al. (2018) · Frontiers in Robotics and AI · doi:10.3389/frobt.2018.00067 · Cited by 48
Development of a Lightweight and High-efficiency Compact Cycloidal Reducer for Legged Robots
Lee, K., Hong, S., & Oh, J.-H. (2019) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-019-00215-9 · Cited by 45
Multi-expert learning of adaptive legged locomotion
Yang, C., Yuan, K., Zhu, Q., Yu, W., & Li, Z. (2020) · UCL Discovery (University College London) · Cited by 44
Controlling the Solo12 quadruped robot with deep reinforcement learning
Aractingi, M., Léziart, P., Flayols, T., Pérez, J., Silander, T., & Souères, P. (2023) · Scientific Reports · doi:10.1038/s41598-023-38259-7 · Cited by 54
“The interest in the design and control of legged robots has resurged due to the development of many quadruped platforms such as the Mini-Cheetah [1], HyQ [2], ANYmal [3], Solo [4], Spot Mini [5] and Laikago [6].”
BackgroundInfluentialLi, Z., Li, Z., Tam, L. M., & Xu, Q. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2022.3221819 · Cited by 44
“With the development in the past two decades, bio-inspired legged robots [6], [7] have shown their outstanding performance in locomotion [8], perception [9], [10], and manipulation [11], [12].”
BackgroundRoozing, W., Ren, Z., & Tsagarakis, N. G. (2019) · The International Journal of Robotics Research · doi:10.1177/0278364919893762 · Cited by 44
“In field robotics, where environments are uncertain and unexpected collisions common, the physical robustness and interaction safety of series-elastic actuators (SEAs) is highly beneficial (Hutter et al., 2016; Negrello et al., 2015; Paine et al., 2015).”
STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor
Kim, Y., Yu, B., Lee, E. M., Kim, J.-H., Park, H.-W., & Myung, H. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3150844 · Cited by 44
Inverse-Dynamics MPC via Nullspace Resolution
Mastalli, C., Chhatoi, S. P., Corbères, T., Tonneau, S., & Vijayakumar, S. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2023.3262186 · Cited by 43
Robust Convex Model Predictive Control for Quadruped Locomotion Under Uncertainties
Xu, S., Zhu, L., Zhang, H., & Ho, C. P. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2023.3299527 · Cited by 47
“This ability motivates a lot of work to develop quadruped robots, such as ANYmal [1], HyQ [2], MIT Cheetah [3], Cheetah II [4] and III [5], and Mini Cheetah [6], from the robotics research community, and Boston Dynamics Spot [7] and Unitree A1 [8] fromthecommercialrobotcompanies.”
BackgroundFast ground-to-air transition with avian-inspired multifunctional legs
Shin, W. D., Phan, H. V., Daley, M. A., Ijspeert, A. J., & Floreano, D. (2024) · Nature · doi:10.1038/s41586-024-08228-9 · Cited by 43
Polzin, M., Guan, Q., & Hughes, J. (2025) · Science Robotics · doi:10.1126/scirobotics.adp6419 · Cited by 48
Overcoming the Torque/Stiffness Range Tradeoff in Antagonistic Variable Stiffness Actuators
Mengacci, R., Garabini, M., Grioli, G., Catalano, M. G., & Bicchi, A. (2021) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3055364 · Cited by 43
“R. Mengacci, M. Garabini and A. Bicchi are with the Research Center “Enrico Piaggio”, University of Pisa, Largo Lucio Lazzarino 1, 56126 Pisa, Italy (e-mail: riccardo.mengacci/manolo.garabini/antonio.bicchi@gmail.com) G. Grioli, M. G. Catalano and A. Bicchi are with the Soft Robotics for Human Cooperation and Rehabili…”
MethodLearning plastic matching of robot dynamics in closed-loop central pattern generators
Ruppert, F., & Badri–Spröwitz, A. (2022) · Nature Machine Intelligence · doi:10.1038/s42256-022-00505-4 · Cited by 44
ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots
Fahmi, S., Barasuol, V., Esteban, D., Villarreal, O., & Semini, C. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3222958 · Cited by 42
“L EGGED robots have shown remarkable agile capabilities in academia [1], [2], [3], [4], [5], [6] and industry [7], [8], [9].”
BackgroundTerrain classification and adaptive locomotion for a hexapod robot Qingzhui
Zhao, Y., Gao, F., Sun, Q., & Yin, Y. (2021) · Frontiers of Mechanical Engineering · doi:10.1007/s11465-020-0623-1 · Cited by 41
Learning and Adapting Agile Locomotion Skills by Transferring Experience
Smith, L. E., Kew, J. C., Li, T., Luu, L., Peng, X. B., Ha, S., Tan, J., & Levine, S. (2023) · Robotics: Science and Systems · doi:10.15607/rss.2023.xix.051 · Cited by 60
Lateral flexion of a compliant spine improves motor performance in a bioinspired mouse robot
Bing, Z., Rohregger, A., Walter, F., Huang, Y., Lucas, P., Morin, F. O., Huang, K., & Knoll, A. (2023) · Science Robotics · doi:10.1126/scirobotics.adg7165 · Cited by 43
“…excellent legged robots have been developed in the past decade, such as the Boston Dynamic Spot ( 7 ), the MIT Cheetah ( 8 ), and the ETH ANYmal ( 9 ), they mainly concentrate on leg-based motor skills that lead to stable walking performances on diverse terrains, such as stairs, tunnels, or wild…”
BackgroundCTS: Concurrent Teacher-Student Reinforcement Learning for Legged Locomotion
Wang, H., Luo, H. L., Zhang, W., & Chen, H. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3457379 · Cited by 49
“to the complicated contact interaction with the uneven terrain and the inherent nonlinear and hybrid dynamics, the locomotion controller synthesis problem is widely acknowledged to be challenging [8].”
BackgroundFriction and damping of a compliant foot based on granular jamming for legged robots
Hauser, S., Eckert, P., Tuleu, A., & Ijspeert, A. J. (2016) · IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob.2016.7523788 · Cited by 41
“The foot is often implemented as a simple ball-foot [1] out of various materials with different friction coefficients, or a simple”
Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg
Lee, C. Y., & Oh, S. (2019) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2019.00017 · Cited by 41
“This concept is called Large Force Bandwidth (LFB) (Hutter et al., 2016).”
BackgroundProvably Stabilizing Controllers for Quadrupedal Robot Locomotion on Dynamic Rigid Platforms
Iqbal, A., Gao, Y., & Gu, Y. (2020) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2020.2999900 · Cited by 41
Neurodynamic modeling of the fruit flyDrosophila melanogaster
Goldsmith, C., Szczecinski, N. S., & Quinn, R. D. (2020) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ab9e52 · Cited by 40
“to passively adapt to external forces or imprecise foot placement [26, 28, 34, 47, 60, 74].”
BackgroundPrompt a Robot to Walk with Large Language Models
Wang, Y., Zhang, B., Chen, J., & Sreenath, K. (2024) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc56724.2024.10885862 · Cited by 86
“In addition to the A1 robot, we further validate our approach with a different robot: the ANYmal robot [17].”
What am I touching? Learning to classify terrain via haptic sensing
Bednarek, J., Bednarek, M., Wellhausen, L., Hutter, M., & Walas, K. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794478 · Cited by 43
“In our experiments we used a dataset collected using the quadrupedal robot ANYmal [24], which provides class labels obtained through a weakly-supervised method [25].”
MethodInfluentialSelf-citationYoshiike, T., Koshiishi, T., Kuroda, M., Ujino, R., Kanemoto, Y., Kaneko, H., Higuchi, H., Komura, S., Iwasaki, S., & Asatani, M. (2019) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2019.2941241 · Cited by 40
“Robots Navigating Confined Spaces Crawler-type and quadruped robots, such as those in [1] and [2], face a variety of challenges in industrial environments.”
BackgroundStability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots
Qian, H., Wang, Z., Wang, J., & Chen, G. (2020) · Sensors · doi:10.3390/s20174911 · Cited by 44
“In addition, there are many famous quadruped robots in the world nowadays, such as Bigdog [6], HyQ [7], HyQ2MAX [8], StarlETH [9], Anymal [10], MIT Cheetah 1∼3 [11–13], Cheetah-cub [14], minitaur [15], and AlienGo [16], etc. Quadruped robot gait consists of static gait [17] and dynamic gait [18].”
BackgroundMethodOncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs
Badri–Spröwitz, A., Tuleu, A., Ajallooeian, M., Vespignani, M., Möckel, R., Eckert, P., D’Haene, M., Degrave, J., Nordmann, A., Schrauwen, B., et al. (2018) · PUB – Publications at Bielefeld University (Bielefeld University) · Cited by 40
SCALER: A Tough Versatile Quadruped Free-Climber Robot
Tanaka, Y., Shirai, Y., Lin, X., Schperberg, A. V., Kato, H., Swerdlow, A., Kumagai, N., & Hong, D. W. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981555 · Cited by 40
“SCALER can reach a comparable normalized speed against ANYmal and SPOT.”
BackgroundChoosing Stiffness and Damping for Optimal Impedance Planning
Pollayil, M. J., Angelini, F., Xin, G., Mistry, M., Vijayakumar, S., Bicchi, A., & Garabini, M. (2022) · IEEE Transactions on Robotics · doi:10.1109/tro.2022.3216078 · Cited by 40
“We validate the proposed impedance planner (Algorithm 1) on two different robots: the quadruped ANYmal B [3] and the 7 DoF robotic arm Franka Emika Panda [70].”
BackgroundMethodLearning-Based Design and Control for Quadrupedal Robots With Parallel-Elastic Actuators
Bjelonic, F., Lee, J., Arm, P., Sako, D., Tateo, D., Peters, J., & Hutter, M. (2023) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2023.3234809 · Cited by 39
“The ANYmal quadrupedal robot [3] integrates into its ANYdrive actuator a serial elastic spring.”
MethodSelf-citationMax: A Wheeled-Legged Quadruped Robot for Multimodal Agile Locomotion
Zhou, Q., Yang, S., Jiang, X., Zhang, D., Chi, W., Chen, K., Zhang, S., Li, J., Zhang, J., Wang, R., et al. (2023) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2023.3345876 · Cited by 43
“ANYmal, for example, has such a setting and harmonic drive is used to gain a high reduction ratio [10].”
BackgroundMethodInfluentialProximal and Sparse Resolution of Constrained Dynamic Equations
Carpentier, J., Budhiraja, R., & Mansard, N. (2021) · Robotics: Science and Systems · doi:10.15607/rss.2021.xvii.017 · Cited by 40
“5 shows the timings in popular quadruped (Solo [20], ANYmal [23]) and biped(iCub [39], Talos [44]) robots.”
Free Gait — An architecture for the versatile control of legged robots
Fankhauser, P., Bellicoso, C. D., Gehring, C., Dubé, R., Gawel, A., & Hutter, M. (2016) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2016.7803401 · Cited by 39
“8 shows the whole-body motion planner being applied to climb industrial stairs (inclination > 50◦) with ANYmal.”
MethodInfluentialSelf-citationA Comparison of PPO, TD3 and SAC Reinforcement Algorithms for Quadruped Walking Gait Generation
Mock, J. W., & Muknahallipatna, S. (2023) · Journal of Intelligent Learning Systems and Applications · doi:10.4236/jilsa.2023.151003 · Cited by 46
Towards a Generic Solution for Inspection of Industrial Sites
Hutter, M., Diethelm, R., Bachmann, S., Fankhauser, P., Gehring, C., Tsounis, V., Lauber, A., Günther, F., Bjelonic, M., Isler, L., et al. (2017) · Springer proceedings in advanced robotics · doi:10.1007/978-3-319-67361-5_37 · Cited by 38
Self-citationFast Global Motion Planning for Dynamic Legged Robots
Norby, J., & Johnson, A. M. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341438 · Cited by 38
“Each test is performed with model parameters that approximate the ANYmal quadruped [35], Table I.”
MethodImplementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12
Léziart, P., Flayols, T., Grimminger, F., Mansard, N., & Souères, P. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561559 · Cited by 37
Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry
Zhang, L., Wisth, D., Camurri, M., & Fallon, M. F. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3137910 · Cited by 36
“We tested our multi-camera odometry algorithm with data from a handheld sensor rig in New College, Oxford ( left ) and the ANYmal quadruped [3] during preparation for the DARPA SubT Challenge [2] ( right ).”
Survey of Quadruped Robots Coping Strategies in Complex Situations
He, J., Shao, J., Sun, G., & Shao, X. (2019) · Electronics · doi:10.3390/electronics8121414 · Cited by 36
“At present, the representative Quadruped robots are: BigDog [4], LittleDog [5], and Spotting [6] from Boston Dynamics; ANYmal [7] from Swiss Federal Institute of Technology Zurich; and, HyQ [8] from the Italian institute of technology.”
MethodFrequency-Aware Model Predictive Control
Grandia, R., Farshidian, F., Dosovitskiy, A., Ranftl, R., & Hutter, M. (2019) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000323965 · Cited by 36
Self-citationČížek, P., Zoula, M., & Faigl, J. (2021) · IEEE Access · doi:10.1109/access.2021.3053492 · Cited by 36
“robot ANYmal utilizes series elastic actuators [7], while the MIT Cheetah 3 [8] uses direct-drive actuators, and it has the lowest reported Cost of Transport (CoT) of 0.”
MethodA Linearization of Centroidal Dynamics for the Model-Predictive Control of Quadruped Robots
Chi, W., Jiang, X., & Zheng, Y. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9812433 · Cited by 36
Santina, C. D., Catalano, M. G., & Bicchi, A. (2021) · Springer eBooks · doi:10.1007/978-3-642-41610-1_146-2 · Cited by 36
Leg State Estimation for Quadruped Robot by Using Probabilistic Model With Proprioceptive Feedback
Sun, J., Zhou, L., Geng, B., Zhang, Y., & Li, Y. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3421251 · Cited by 35
“Taking inspiration from these natural wonders, bioinspired robots have been designed to emulate both the optimally selected forms and exceptional locomotion capabilities observed in natural creations [1], [2], [3], [4], [5], [6].”
Quadruped Robots: Bridging Mechanical Design, Control, and Applications
Li, Q., Cicirelli, F., Vinci, A., Guerrieri, A., Qi, W., & Fortino, G. (2025) · Robotics · doi:10.3390/robotics14050057 · Cited by 42
Multi-directional crawling robot with soft actuators and electroadhesive grippers
Digumarti, K. M., Cao, C., Guo, J., Conn, A. T., & Rossiter, J. M. (2018) · IEEE International Conference on Soft Robotics (RoboSoft) · doi:10.1109/robosoft.2018.8404936 · Cited by 35
“While these are largely successful [1],[2], they are not suitable where space is a constraint.”
BackgroundZimmermann, Y., Küçüktabak, E. B., Farshidian, F., Riener, R., & Hutter, M. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341054 · Cited by 35
Self-citationReal-time Optimal Navigation Planning Using Learned Motion Costs
Yang, B., Wellhausen, L., Miki, T., Liu, M., & Hutter, M. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561861 · Cited by 35
“We present a navigation framework that supports rapid global path planning and optimization on complex terrains and test it on an ANYmal C [4], a quadrupedal robot with high mobility.”
MethodSelf-citationBhujel, S., & Hasan, S. (2023) · Human-Intelligent Systems Integration · doi:10.1007/s42454-023-00048-y · Cited by 34
“The device uses modular series elastic actuators named ANY-drive with high torque motors, harmonic drive gears, and rotational springs (Hutter et al. 2016).”
Automated reality capture for indoor inspection using BIM and a multi-sensor quadruped robot
Chen, Z., Song, C., Wang, B., Tao, X., Zhang, X., Lin, F., & Cheng, J. C. P. (2024) · Automation in Construction · doi:10.1016/j.autcon.2024.105930 · Cited by 36
Deployment of an autonomous mobile manipulator at MBZIRC
Carius, J., Wermelinger, M., Rajasekaran, B., Holtmann, K., & Hutter, M. (2018) · Journal of Field Robotics · doi:10.1002/rob.21825 · Cited by 34
“These actuators, called ANYdrives (Hutter et al., 2016), are composed of a brushless high ‐ torque motor, harmonic drive gear, a torsional spring, and integrated control electronics and sensors (including absolute encoders).”
BackgroundSelf-citationMinimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution
Wang, G., Ding, L., Gao, H., Deng, Z., Liu, Z., & Yu, H. (2019) · IEEE Access · doi:10.1109/access.2019.2962527 · Cited by 34
“ANYmal is equipped with an SEA (series elastic actuator) drive in each joint, and is fully torque controllable [3].”
Dehio, N., Smith, J., Wigand, D. L., Mohammadi, P., Mistry, M., & Steil, J. J. (2021) · The International Journal of Robotics Research · doi:10.1177/02783649211053650 · Cited by 34
“Figure 8), a torque-controlled robot with 12 actuated joints (Hutter et al., 2016).”
BackgroundMethodWhole‐body motion planning and control of a quadruped robot for challenging terrain
Lu, G., Chen, T., Rong, X., Zhang, G., Bi, J. Q., Cao, J., Jiang, H. X., & Li, Y. (2023) · Journal of Field Robotics · doi:10.1002/rob.22197 · Cited by 33
“environment to achieve dynamic motion in rough terrain with small discrete height differences (Bellicoso et al., 2017; Hutter et al., 2016; Kolvenbach et al., 2020).”
BackgroundReinforcement Learning for Blind Stair Climbing with Legged and Wheeled-Legged Robots
Chamorro, S., Klemm, V., Valls, M. D. L. I., Pal, C., & Siegwart, R. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610069 · Cited by 40
Skating with a Force Controlled Quadrupedal Robot
Bjelonic, M., Bellicoso, C. D., Tiryaki, M. E., & Hutter, M. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594504 · Cited by 33
“The robot ANYmal [2], [3] performing skating motions on ice.”
BackgroundMethodSelf-citationUnknown Payload Adaptive Control for Quadruped Locomotion With Proprioceptive Linear Legs
Jin, B., Ye, S., Su, J., & Luo, J. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2022.3170548 · Cited by 33
Zhao, M., Anzai, T., & Nishio, T. (2023) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2023.3272285 · Cited by 39
“For most of the quadruped robot, the form is bio-inspired and specialized for terrestrial locomotion [13], [14], [15].”
BackgroundTime-Optimal Trajectory Planning for Flexible Joint Robots
Palleschi, A., Mengacci, R., Angelini, F., Caporale, D., Pallottino, L., Luca, A. D., & Garabini, M. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2965861 · Cited by 32
“Some examples are the quadrupedal robot ANYmal [3] and the humanoid WalkMan [4].”
Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot
Kim, J., Kang, T., Song, D., & Yi, S. (2021) · Applied Sciences · doi:10.3390/app11093762 · Cited by 32
“ANYbotics ANYmal [4] uses modular SEA actuators for its joints, and has showed the capability to operate over a wide range of unstructured environments.”
BackgroundAnimal robots in the African wilderness: Lessons learned and outlook for field robotics
Melo, K., Horvat, T., & Ijspeert, A. J. (2023) · Science Robotics · doi:10.1126/scirobotics.add8662 · Cited by 33
Embodied Multi-Agent Systems: A Review
Li, Z., Wu, W., Guo, Y., Sun, J. Q., & Han, Q. (2025) · IEEE/CAA Journal of Automatica Sinica · doi:10.1109/jas.2025.125552 · Cited by 42
Mao, L., Gao, F., Tian, Y., & Zhao, Y. (2020) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2020.103897 · Cited by 31
Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning
Gangapurwala, S., Geisert, M., Orsolino, R., Fallon, M. F., & Havoutis, I. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561639 · Cited by 34
“We transferred the blind policy to the ANYmal robot and tested its performance for tracking a pre-computed reference trajectory of 3 .”
MethodInfluentialTowards Terrain Adaptablity: In Situ Transformation of Wheel-Biped Robots
Liu, T., Zhang, C., Wang, J., Song, S., & Meng, M. Q. ‐. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3148486 · Cited by 30
“Hutter et al. [1] developed a quadrupedal robot towards harsh environments, and [2] from Boston Dynamics presented a compact, nimble four-legged robot that can trot around office, home or outdoors.”
BackgroundBioinspired robots can foster nature conservation
Chellapurath, M., Khandelwal, P. C., & Schulz, A. (2023) · Frontiers in Robotics and AI · doi:10.3389/frobt.2023.1145798 · Cited by 30
Dehio, N., Smith, J., Wigand, D. L., Xin, G., Lin, H.-C., Steil, J. J., & Mistry, M. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8462872 · Cited by 30
“7), a torque-controlled robot with 12 actuated joints [33].”
BackgroundSun, T., Xiong, X., Dai, Z., & Manoonpong, P. (2020) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2020.00014 · Cited by 30
“Therefore, several moderate-sized robots (with masses between 20 and 50 kg), such as the MIT Cheetah (Seok et al., 2013; Wensing et al., 2017; Bledt et al., 2018), ANYmal (Hutter et al., 2016), Spotmini 3 , and Laikago 4 , have been developed for researching the specific issue of quadrupedal locomotion, which includes…”
BackgroundLuo, J., Zhao, Y., Ruan, L., Mao, S., & Fu, C. (2020) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2020.3036530 · Cited by 30
Lin, Z., Zheng, W., Zhang, J., Ou, W., Chen, Y., Huang, H., Xu, W., Yang, Z., Zhou, W., & Zhang, Y. (2023) · Cell Reports Physical Science · doi:10.1016/j.xcrp.2023.101589 · Cited by 33
A survey on legged robots: Advances, technologies and applications
Wu, Z., Zheng, K., Ding, Z., & Gao, H. (2024) · Engineering Applications of Artificial Intelligence · doi:10.1016/j.engappai.2024.109418 · Cited by 34
Jin, B., Sun, C., Zhang, A., Ding, N., Lin, J., Deng, G., Zhu, Z., & Sun, Z. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968168 · Cited by 29
“StarlETH [4][6] and its successor ANYmal [5] employed an SEA arrangement of the motor, gearbox, and spring between the fixed link and moving link, which have demonstrated dynamic and compliant performance.”
Perceptive Autonomous Stair Climbing for Quadrupedal Robots
Qi, S., Lin, W., Hong, Z., Chen, H., & Zhang, W. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636302 · Cited by 29
“Recently, a number of quadrupedal robots have become commercially available, e.g., Spot Mini from Boston Dynamics [1], ANYmal from ANYbotics [2], HyQ from IIT [3], Mini Cheetah from MIT [4], and Laikago/Aliengo from Unitree Robotics [5].”
MethodEmbodied AI Agents: Modeling the World
Fung, P., Bachrach, Y., Celikyilmaz, A., Chaudhuri, K., Chen, D., Chung, W., Dupoux, E., Gong, H., Jégou, H., Lazaric, A., et al. (2025) · arXiv · doi:10.48550/arxiv.2506.22355 · Cited by 29
“To perform low-level control tasks, such as locomotion on uneven terrain Nguyen et al. (2017), climbing obstacles Hutter et al. (2016), jumping Nguyen et al. (2022) or even performing a backflip with a humanoid robot Chignoli et al., the field of robotic control has classically relied on…”
QUAR-VLA: Vision-Language-Action Model for Quadruped Robots
Ding, P., Zhao, H., Zhang, W., Song, W., Zhang, M., Huang, S., Yang, N., & Wang, D. (2024) · Lecture notes in computer science · doi:10.1007/978-3-031-72652-1_21 · Cited by 28
Learning Image-Conditioned Dynamics Models for Control of Underactuated Legged Millirobots
Nagabandi, A., Yang, G., Asmar, T., Pandya, R., Kahn, G., Levine, S., & Fearing, R. S. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594193 · Cited by 34
“Controlling Legged Millirobots: Extensive prior work on controlling legged robots includes larger legged robots such as Anymal [1], ASIMO [2], and Big Dog [3].”
BackgroundChen, J., Liang, Z., Zhu, Y., Liu, C., Zhang, L., Hao, L., & Zhao, J. (2019) · Sensors · doi:10.3390/s19245351 · Cited by 28
“The Anymal robot is a direct successor of StarlETH, specifically developed for long endurance autonomous operation in harsh environments, as depicted in Figure 3b [43,44].”
BackgroundEvent-based Agile Object Catching with a Quadrupedal Robot
Forrai, B., Miki, T., Gehrig, D., Hutter, M., & Scaramuzza, D. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161392 · Cited by 31
“States, Action space and Policy We use ANYmal C [23] as a quadrupedal robot model and use the actuator net [12] which simulates the dynamics of the actuator.”
MethodSelf-citationMa, W.-L., Hamed, K. A., & Ames, A. D. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8968189 · Cited by 27
“Some famous quadrupedal examples include, but are not limited to, the BigDog [28], Minitaur [11], ANYmal [18] and Cheetah robot [9].”
BackgroundExplosive Electric Actuator and Control for Legged Robots
Meng, F., Huang, Q., Yu, Z., Chen, X., Fan, X., Zhang, W., & Ming, A. (2021) · Engineering · doi:10.1016/j.eng.2021.10.016 · Cited by 28
Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning
Stölzle, M., Miki, T., Gerdes, L., Azkarate, M., & Hutter, M. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3141662 · Cited by 28
“We evaluated on multiple synthetic terrain types as well as real-world datasets collected with the legged robot ANYmal [10] and the planetary rover test-bed HDPR [11].”
MethodSelf-citationSound Identification for Fire-Fighting Mobile Robots
Baum, E., Harper, M. Y., Alicea, R., & Ordóñez, C. (2018) · IEEE International Conference on Robotic Computing (IRC) · doi:10.1109/irc.2018.00020 · Cited by 27
Next generation legged robot locomotion: A review on control techniques
Kotha, S. S., Akter, N., Abhi, S. H., Das, S. K., Islam, M. R., Ali, M. F., Ahamed, M. H., Islam, M. M., Sarker, S. K., Badal, F. R., et al. (2024) · Heliyon · doi:10.1016/j.heliyon.2024.e37237 · Cited by 37
Generating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Ewen, P., Sleiman, J.-P., Chen, Y., Lu, W.-C., Hutter, M., & Vasudevan, R. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561117 · Cited by 26
“We compare a subset of the experiments with a baseline planner used on Anymal [26], [29].”
BackgroundMethodInfluentialSelf-citationMulti-Modal Legged Locomotion Framework With Automated Residual Reinforcement Learning
Chen, Y., & Rosendo, A. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3191071 · Cited by 26
Online Kinematic Calibration for Legged Robots
Yang, S., Choset, H., & Manchester, Z. R. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3186501 · Cited by 26
“Existing legged robot controllers usually use fixed leg-length values obtained from a 3D model of the robot or manual measurement [3], [6], [7].”
Quadruped Capturability and Push Recovery via a Switched-Systems Characterization of Dynamic Balance
Chen, H., Hong, Z., Yang, S., Wensing, P. M., & Zhang, W. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2023.3240622 · Cited by 26
“[52] M. Baotic, “Optimal control of piecewise affine systems: A multiparametric approach,” Ph.D. dissertation, ETH Zurich, Zurich, Switzerland, 2005.”
BackgroundZhu, Y., Zhou, S., Gao, D., & Liu, Q. (2019) · Frontiers in Neurorobotics · doi:10.3389/fnbot.2019.00059 · Cited by 26
“Keywords: bionic parallel waist, locomotion control, synchronization, transition state, σ-Hopf oscillator INTRODUCTION Legged robot technique has made remarkable progress in the past few decades, and produced a series of very famous achievements: StarlETH (Hutter et al., 2012), ANYmal (Hutter et al., 2016; Hwangbo et…”
BackgroundHigh-speed control and navigation for quadrupedal robots on complex and discrete terrain
Kim, H., Oh, H., Park, J., KIM, Y. H., Youm, D., Jung, M., Lee, M., & Hwangbo, J. (2025) · Science Robotics · doi:10.1126/scirobotics.ads6192 · Cited by 38
Self-citationSchrade, S. O., Menner, M., Shirota, C., Winiger, P., Stutz, A., Zeilinger, M. N., Lambercy, O., & Gassert, R. (2020) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2020.3006787 · Cited by 25
“Thus, an SEA offering a fixed mechanical compliance and rendering a broader range via control, similar to the ones used in other legged robots [33], may be sufficient in terms of reducing peak forces and torques.”
Hua, Z., Rong, X., Li, Y., Chai, H., Li, B., & Zhang, S. (2020) · Applied Sciences · doi:10.3390/app10010340 · Cited by 25
“The famous quadruped robot ANYmal is a successful application of this [13,14].”
Background
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
- 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 › 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
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