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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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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
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
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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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 201–300 of 969
Kang, R., Meng, F., Chen, X., Yu, Z., Fan, X., Ming, A., & Huang, Q. (2020) · Sensors · doi:10.3390/s20226543 · Cited by 25
“Most of the representative robots have used a series leg structure, which is characterized by the combination of a simple structure and large workspace; robots to use this structure include BigDog [8], HyQ [9], SCalf [10], ANYmal [11] and MIT Cheetah 3 [12].”
BackgroundCable-Driven Actuation for Highly Dynamic Robotic Systems
Hwangbo, J., Tsounis, V., Kolvenbach, H., & Hutter, M. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593569 · Cited by 25
Self-citationZhang, J., Liu, J., Zong, H., Ji, P., Fang, L., Li, Y., Yang, H., & Bing Hong, X. U. (2025) · Cyborg and Bionic Systems · doi:10.34133/cbsystems.0365 · Cited by 27
“3 (5e)] has dimensions of 0.8 m × 0.4 m × 0.7 m and weighs 30 kg [ 120 ].”
InfluentialSelecting Suitable Battery Technologies for Untethered Robot
Verstraten, T., Hosen, M. S., Berecibar, M., & Vanderborght, B. (2023) · Energies · doi:10.3390/en16134904 · Cited by 34
“Legged robots : another type of UGVs, where a large number of actuators – typically electric motors [30,31] a re used to drive the joints of two or more robotic legs [32].”
BackgroundLearning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning
Schneider, L., Frey, J., Miki, T., & Hutter, M. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610137 · Cited by 29
“Early successes have been achieved by model-based methods [16], [17].”
MethodInfluentialSelf-citationContact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner
Geisert, M., Yates, T., Orgen, A., Fernbach, P., & Havoutis, I. (2019) · Lecture notes in computer science · doi:10.1007/978-3-030-23807-0_23 · Cited by 27
Learning coordinated badminton skills for legged manipulators
Ma, Y., Cramariuc, A., Farshidian, F., & Hutter, M. (2025) · Science Robotics · doi:10.1126/scirobotics.adu3922 · Cited by 32
“The quadrupedal mobile manipulator robot used in this work consisted of the ANYmal-D base [48] and the DynaArm.”
Self-citationShafiee, M., Sarvestani, A. A., & Badri–Spröwitz, A. (2021) · Frontiers in Robotics and AI · doi:10.3389/frobt.2021.645748 · Cited by 23
“Series elastic actuation (SEA) can simplify control, improve robustness and interaction safety, and protect actuators from overloads (Raibert et al., 1984; Robinson et al., 1999; Pratt and Krupp, 2004; Hutter et al., 2011; Calanca et al., 2015; Hutter et al., 2016; AhmadSharbafi et al., 2020).”
BackgroundPrismatic Quasi-Direct-Drives for dynamic quadruped locomotion with high payload capacity
Luo, J., Ye, S., Su, J., & Jin, B. (2022) · International Journal of Mechanical Sciences · doi:10.1016/j.ijmecsci.2022.107698 · Cited by 25
Balancing Control and Pose Optimization for wheel-legged Robots Navigating High Obstacles
Li, J., Ma, J., & Nguyen, Q. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981432 · Cited by 23
“, ATRIAS [2], Cassie [3], MIT Cheetah 3 [4], ANYmal quadruped [5], and Boston Dynamics Spot autonomous exploration mission [6]).”
BackgroundProNav: Proprioceptive Traversability Estimation for Legged Robot Navigation in Outdoor Environments
Elnoor, M., Sathyamoorthy, A. J., Weerakoon, K., & Manocha, D. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3418270 · Cited by 23
“Several widely used legged robot platforms possess these specifications and the capability to measure these parameters [38], [39], [40].”
BackgroundHysteresis Modeling for Torque Control of an Elastomer Series Elastic Actuator
Kim, D., & Oh, J.-H. (2019) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2019.2906698 · Cited by 23
“The system is primarily used with humanoid robots such as THOR [2], WalkMan [3], and Valkyrie [4] and legged robots such as Scarleth [5] and ANYmal [6].”
MethodBuchanan, R., Bednarek, J., Camurri, M., Nowicki, M., Walas, K., & Fallon, M. F. (2021) · Autonomous Robots · doi:10.1007/s10514-021-10013-w · Cited by 23
Berkeley Humanoid: A Research Platform for Learning-Based Control
Liao, Q., Zhang, B., Huang, X., Huang, X., Li, Z., & Sreenath, K. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127524 · Cited by 50
“Integrating all components in a compact volume without sacrificing performance or cost is difficult.”
Real-Time Dance Generation to Music for a Legged Robot
Bi, T., Fankhauser, P., Bellicoso, C. D., & Hutter, M. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593983 · Cited by 22
“Our experiments were conducted on the quadrupedal robot ANYmal [14] which is 0.5 m tall and weighs 30 kg.”
BackgroundMethodInfluentialSelf-citationGenerative Design of NU’s Husky Carbon, A Morpho-Functional, Legged Robot
Ramezani, A., Dangol, P., Sihite, E. N., Lessieur, A., & Kelly, P. G. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561196 · Cited by 22
“showcased by MIT’s Cheetah are not feasible on this platform [13].”
BackgroundHe, M., Yue, X., Zheng, Y., Chen, J., Wu, S., Heng, Z., Zhou, X., & Cai, Y. (2023) · Robotica · doi:10.1017/s0263574723000577 · Cited by 22
“…England 2016 Tracted Uranus-9 [21] Kalashnikov Russia 2016 Tracted Packbot [22] iRobot USA 2003 Tracted LLAMA [29] ARL JPL USA 2019 Legged ANYmal [30] ETH Zurich Switzerland 2016 Legged Atlas [31] Boston Dynamics USA 2016 Legged Cheetah [32] MIT USA 2017 Legged Shrimp [49] EPFL Switzerland 2002…”
Optimization-based legged odometry and sensor fusion for legged robot continuous localization
Belter, D., & Nowicki, M. (2018) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2018.10.013 · Cited by 22
Stability Criterion for Dynamic Gaits of Quadruped Robot
Yan, J. X., Luo, X. L., Han, B., Liang, G., Zhao, J., & Zhao, Y. (2018) · Applied Sciences · doi:10.3390/app8122381 · Cited by 22
Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot
Wang, Y., Ramezani, M., & Fallon, M. F. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197153 · Cited by 22
“1) Platform: The robot platform employed in this work is an ANYbotics ANYmal (version B) [23].”
MethodRMA: Rapid Motor Adaptation for Legged RobotsPreprint
Kumar, A., Fu, Z., Pathak, D., & Malik, J. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2107.04034 · Cited by 317
“The ANYmal robot [20] locomotes by optimizing a parameterized controller and planning based on an inverted pendulum model [15].”
MethodAttention-based map encoding for learning generalized legged locomotion
He, J., Zhang, C., Jenelten, F., Grandia, R., Bächer, M., & Hutter, M. (2025) · Science Robotics · doi:10.1126/scirobotics.adv3604 · Cited by 49
Self-citationA Quadruped Robot with Three-Dimensional Flexible Legs
Huang, W., Xiao, J., Zeng, F., Lu, P., Lin, G., Hu, W., Lin, X., & Wu, Y. (2021) · Sensors · doi:10.3390/s21144907 · Cited by 21
“Another design method is to use the spring to achieve joint flexibility, which provides shock absorption and reduces the bottom impact through the passive compliance of the spring [16,17].”
MethodA survey on localization, mapping, and trajectory planning for quadruped robots in vineyards
Ferreira, J. G. G., Moreira, A. P., Silva, M. F., & dos Santos, F. N. (2022) · IEEE International Conference on Autonomous Robot Systems and Competitions · doi:10.1109/icarsc55462.2022.9784796 · Cited by 21
Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch
Dholakiya, D., Bhattacharya, S., Gunalan, A., Singla, A., Bhatnagar, S., Amrutur, B. S., Ghosal, A., & Kolathaya, S. (2019) · International Conference on Control, Automation and Robotics (ICCAR) · doi:10.1109/iccar.2019.8813480 · Cited by 21
“[6], Starl ETH [7], Spot mini [8], ANYmal [9], LaikaGo [10], Minitaur [11] etc.”
BackgroundA Proprioceptive, Force-Controlled, Non-Anthropomorphic Biped for Dynamic Locomotion
Yu, J., Hooks, J. R., Zhang, X., Ahn, M. S., & Hong, D. W. (2018) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2018.8624919 · Cited by 21
“elastic actuation ([5], [6]).”
Gait Analysis of Quadruped Robot Using the Equivalent Mechanism Concept Based on Metamorphosis
Xu, K., Zi, P., & Ding, X. (2019) · Chinese Journal of Mechanical Engineering · doi:10.1186/s10033-019-0321-2 · Cited by 21
Wei, Y., Pan, Y., Che, J., Yu, J., & Han, Z. (2021) · PeerJ Computer Science · doi:10.7717/peerj-cs.821 · Cited by 20
Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection
Corbères, T., Mastalli, C., Merkt, W., Shim, J., Havoutis, I., Fallon, M. F., Mansard, N., Flayols, T., Vijayakumar, S., & Tonneau, S. (2025) · IEEE Access · doi:10.1109/access.2025.3558093 · Cited by 20
“The hardware maturity of quadruped robots [1], [2], [3], [4] motivates the development of a motion synthesis framework for applications including inspections in industrial areas [5].”
Compliant universal grippers as adaptive feet in legged robots
Hauser, S., Mutlu, M., Banzet, P., & Ijspeert, A. J. (2018) · Advanced Robotics · doi:10.1080/01691864.2018.1496851 · Cited by 20
Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator
Hua, Z., Rong, X., Li, Y., Chai, H., & Zhang, S. (2019) · IEEE Access · doi:10.1109/access.2019.2951830 · Cited by 20
Energy-Efficient Locomotion Generation and Theoretical Analysis of a Quasi-Passive Dynamic Walker
Li, L., Tokuda, I. T., & Asano, F. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2996585 · Cited by 20
Are They Really Trying to Save Their Buddy? The Anthropomorphism of Animal Epimeletic Behaviours
Sueur, C., Forin-Wiart, M.-A., & Pelé, M. (2020) · Animals · doi:10.3390/ani10122323 · Cited by 20
“At two points in the video (at 24” and 30”), an engineer kicks the robot dog to demonstrate its stability (but see also other videos by Boston Dynamics [99,100]).”
BackgroundDo robots outperform humans in human-centered domains?
Riener, R., Rabezzana, L., & Zimmermann, Y. (2023) · Frontiers in Robotics and AI · doi:10.3389/frobt.2023.1223946 · Cited by 23
Chen, L., Ye, S., Sun, C., Zhang, A., Deng, G., & Liao, T. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197135 · Cited by 19
Damping in Compliant Actuation: A Review
Monteleone, S., Negrello, F., Catalano, M. G., Garabini, M., & Grioli, G. (2022) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2021.3138388 · Cited by 19
On Slip Detection for Quadruped Robots
Nisticò, Y., Fahmi, S., Pallottino, L., Semini, C., & Fink, G. (2022) · Sensors · doi:10.3390/s22082967 · Cited by 20
“The research group of Swiss Federal Institute of Technology (Zurich) and Anybotics AG developed the quadruped robot ANYmal [8], for autonomous operation in challenging environments [9].”
BackgroundInfluentialDeep reinforcement learning for real-world quadrupedal locomotion: a comprehensive review
Zhang, H., Li, H., & Wang, D. (2022) · Intelligence & Robotics · doi:10.20517/ir.2022.20 · Cited by 22
“To accomplish more complex tasks, robots (Unitree Laikago, Unitree A1, ANYmal [40], etc.) with more than 12 degrees of freedom are used by researchers.”
Hybrid Bipedal Locomotion Based on Reinforcement Learning and Heuristics
Wang, Z., Wei, W., Xie, A., Zhang, Y., Wu, J., & Zhu, Q. (2022) · Micromachines · doi:10.3390/mi13101688 · Cited by 19
Quadrupedal Robots Whole-Body Motion Control Based on Centroidal Momentum Dynamics
Liu, M., Qu, D., Xu, F., Zou, F., Di, P., & Tang, C. (2019) · Applied Sciences · doi:10.3390/app9071335 · Cited by 19
“As a legged robot, quadruped robot, such as BigDog [1], Cheetah [2], Anymal [3] and HyQ [4], have a great potential for applications in complex environments.”
BackgroundSupport Surface Estimation for Legged Robots
Homberger, T., Wellhausen, L., Fankhauser, P., & Hutter, M. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793646 · Cited by 19
“In our first experiment, ANYmal took its first few steps on flat asphalt.”
MethodInfluentialSelf-citationCoverage path planning for legged robots in unknown environments
Jia, D. P., Wermelinger, M., Diethelm, R., Krüsi, P., & Hutter, M. (2016) · IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) · doi:10.1109/ssrr.2016.7784279 · Cited by 19
“ANYmal is equipped with two rotating laser scanners (Hokuyo UTM-30LX-EW), one at the front and one at the back of the robot.”
MethodInfluentialSelf-citationXu, Y., Wang, Z., Hao, W., Zhao, W., Lin, W., Jin, B., & Ding, N. (2021) · Sensors · doi:10.3390/s21165359 · Cited by 18
“ANYmal uses series elastic actuators (SEAs) with precise torque sensing in all joints [13].”
Control-Aware Design Optimization for Bio-Inspired Quadruped Robots
Vincenti, F. D., Kang, D., & Coros, S. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636415 · Cited by 18
“We additionally model an actuator at the knee joint [7, 12] as a point mass.”
BackgroundMethodFeller, D., & Siemers, C. (2022) · Robotics · doi:10.3390/robotics11020039 · Cited by 18
“Thus, without completeness, remarkable results have been shown regarding quadrupedal robots such as the Raibert quadruped [1], BigDog [2], Spot (Classic) and SpotMini [3], MIT Cheetah [4], ANYmal [5], HyQ [6], and the two-legged robots Atlas [7], ASIMO [8], ATRIAS [9,10], Cassie [11], and HRP [12].”
HyperDog: An Open-Source Quadruped Robot Platform Based on ROS2 and micro-ROS
Mudalige, N. D. W., Zhura, I., Babataev, I., Nazarova, E., Fedoseev, A., & Tsetserukou, D. (2022) · Conference proceedings/Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics · doi:10.1109/smc53654.2022.9945526 · Cited by 18
Towards rich motion skills with the lightweight quadruped robot Serval
Eckert, P., Schmerbauch, A. E. M., Horvat, T., Söhnel, K., Fischer, M. S., Witte, H., & Ijspeert, A. J. (2019) · Adaptive Behavior · doi:10.1177/1059712319853227 · Cited by 18
Whole-Body Motion and Landing Force Control for Quadrupedal Stair Climbing
Lee, Y. H., Koo, J. C., Choi, H. R., Lee, Y. H., Lee, H., Kang, H., Kim, Y. B., Lee, J. H., Phan, L. T., Jin, S., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967527 · Cited by 18
Besselmann, M. G., Puck, L., Steffen, L., Roennau, A., & Dillmann, R. (2021) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case49439.2021.9551430 · Cited by 18
“Particularly unmanned aerial vehicles (UAVs) or walking robots for search and rescue missions [6][7] require a full 3D representation of their surrounding environment.”
BackgroundLearning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner
Brakel, P., Bohez, S., Hasenclever, L., Heess, N., & Bousmalis, K. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981648 · Cited by 21
“6f, there are no significant peaks above the suggested maximum torque of 40 Nm [38].”
BackgroundBenchmarking Agility For Multilegged Terrestrial Robots
Eckert, P., & Ijspeert, A. J. (2019) · IEEE Transactions on Robotics · doi:10.1109/tro.2018.2888977 · Cited by 18
Effective Viscous Damping Enables Morphological Computation in Legged Locomotion
Mo, A. C., Izzi, F., Haeufle, D. F. B., & Badri–Spröwitz, A. (2020) · Frontiers in Robotics and AI · doi:10.3389/frobt.2020.00110 · Cited by 18
“, 2007), and physical springy leg implementations (Spröwitz et al., 2013; Hutter et al., 2016; Ruppert and Badri-Spröwitz, 2019).”
BackgroundRobust Robotic Search and Rescue in Harsh Environments: An Example and Open Challenges
Solmaz, S., Innerwinkler, P., Wójcik, M., Tong, K., Politi, E., Dimitrakopoulos, G. J., Purucker, P., Höß, A., Schuller, B. W., & John, R. (2024) · IEEE International Symposium on Robotic and Sensors Environments · doi:10.1109/rose62198.2024.10591144 · Cited by 20
“Among the stand-out platforms are the MIT Cheetah [47], the ETH ANYmal [48], the Unitree Go1/Go2 [49], and the Boston Dynamics Spot [50], each distinguished by their innovative features and capabilities.”
MethodMobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control
Lu, C., Cheng, X., Li, J., Yang, S., Ji, M., Yuan, C., Yang, G., Yi, S., & Wang, X. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128652 · Cited by 17
Distributed-force-feedback-based reflex with online learning for adaptive quadruped motor control
Sun, T., Dai, Z., & Manoonpong, P. (2021) · Neural Networks · doi:10.1016/j.neunet.2021.06.001 · Cited by 17
Balance Control of a Quadruped Robot Based on Foot Fall Adjustment
Sun, W., Tian, X., Song, Y. H., Pang, B. J., Yuan, X., & Xu, Q. (2022) · Applied Sciences · doi:10.3390/app12052521 · Cited by 17
“It has a laser sensor and a camera installed on its body to sense the terrain of the environment for map building and self‐positioning [5].”
BackgroundPetris, P. D., Khattak, S., Dharmadhikari, M., Waibel, G., Nguyen, H., Montenegro, M., Khedekar, N., Alexis, K., & Hutter, M. (2022) · IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) · doi:10.1109/ssrr56537.2022.10018768 · Cited by 17
“Extensive experimental results using the marsupial integration of ANYmal-C and RMF-Owl robots demonstrate that the system-of-systems approach can enable the autonomous exploration and mapping of areas that could not have been fully covered using a single system in an efficient manner.”
MethodInfluentialSelf-citationRoozing, W., Ren, Z., & Tsagarakis, N. G. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8460493 · Cited by 17
Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bioinspired Hoof
Abad, S.-A., Herzig, N., Sadati, S. M. H., & Nanayakkara, T. (2019) · IEEE Transactions on Robotics · doi:10.1109/tro.2019.2930864 · Cited by 17
“Therefore, new field robots such as ScarlETH [35] and Anymal [36] from ETH Zurich, Big Dog [37] from Boston Dynamics, and RSTAR [38] could utilize this artificial hoof for improving their slip resistance.”
MethodYin, K., Sun, Q., Gao, F., & Zhou, S. (2021) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/0954406221999422 · Cited by 17
Fast Haptic Terrain Classification for Legged Robots Using Transformer
Bednarek, M., Łysakowski, M., Bednarek, J., Nowicki, M., & Walas, K. (2021) · European Conference on Mobile Robots · doi:10.1109/ecmr50962.2021.9568808 · Cited by 19
Dynamic Balance and Trajectory Tracking Control of Quadruped Robots Based on Virtual Model Control
Chen, G., Hou, B., Guo, S. L., & Wang, J. (2020) · Chinese Control Conference (CCC) · doi:10.23919/ccc50068.2020.9189645 · Cited by 16
“In quadruped robots, the representative robots include BigDog [1, 5], Soptmini [6], MIT Cheetah [7], HyQ [8], Anymal [9], Laikago etc.”
BackgroundAn Outlier Exposure Approach to Improve Visual Anomaly Detection Performance for Mobile Robots
Mantegazza, D., Giusti, A., Gambardella, L. M., & Guzzi, J. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3192794 · Cited by 16
“Christiansen et al. [12], detect obstacles and anomalies on an autonomous agricultural robot, using DeepAnomaly, a custom CNN derived from AlexNet [26]; anomalies are found and highlighted using background subtraction over high-level features of the CNN. Wellhausen et al. [1] achieve safe navigation for a legged ANYma…”
BackgroundTao, Y., Gao, C., Shi, Y., Li, M., Zhang, M., & Liu, D. (2022) · Applied Sciences · doi:10.3390/app122312348 · Cited by 16
Watch the Next Step: A Comprehensive Survey of Stair-Climbing Vehicles
Pappalettera, A., Bottiglione, F., Mantriota, G., & Reina, G. (2023) · Robotics · doi:10.3390/robotics12030074 · Cited by 16
“[103] 2016 Marco Hutter Prototype solution, autonomous walking”
BackgroundInfluentialA stability locomotion-control strategy for quadruped robots with center-of-mass dynamic planning
Han, Y., Liu, G., Lu, Z., Zong, H., Zhang, J., Zhong, F., & Gao, L. (2023) · Journal of Zhejiang University. Science A · doi:10.1631/jzus.a2200310 · Cited by 16
“Quadruped robots have been extensively resear‑ ched owing to their extreme mobility and adaptability to different terrains; for example, the well-known ANYmal (Hutter et al., 2016, 2017), HyQ (Focchi et al., 2017; Gonzalez et al., 2020), and MIT Cheetah series (Hyun et al., 2014; Park et al., 2017).”
BackgroundComputational design towards energy efficient optimization in overconstrained robotic limbs
Gu, Y., Wang, Z., Feng, S., Sun, H., Lu, H., Pan, J., Wan, F., & Song, C. (2023) · Journal of Computational Design and Engineering · doi:10.1093/jcde/qwad083 · Cited by 16
“…proven effective in reducing the design space in both morphology and parametric search, including Salamandra r obotica II (Cr espi et al. , 2013 ), MIT Cheetah (Seok et al. , 2013 ; Park et al. , 2017 ; Bledt et al. , 2018 ), StarlETH (Hutter et al. , 2012 ), and ANYmal (Hutter et al. , 2016 ).”
BackgroundMethodInfluentialA Hierarchical Framework for Quadruped Robots Gait Planning Based on DDPG
Li, Y., Chen, Z., Wu, C., Mao, H., & Sun, P. (2023) · Biomimetics · doi:10.3390/biomimetics8050382 · Cited by 16
A Hybrid-Dimensional Laser SLAM Framework for Indoor Quadruped Inspection Robots
Cheng, J., Zhang, M., Ma, L., Chen, H., Gan, Y., & Huang, D. (2024) · IEEE Sensors Journal · doi:10.1109/jsen.2024.3382336 · Cited by 16
“These characteristics make quadruped robots more and more widely used [6], [7], [8].”
BackgroundFall prediction, control, and recovery of quadruped robots
Sun, H., Yang, J., Jia, Y., Zhang, C., Yu, X. W., & Wang, C. (2024) · ISA Transactions · doi:10.1016/j.isatra.2024.05.039 · Cited by 16
Dexterous Legged Locomotion in Confined 3D Spaces with Reinforcement Learning
Xu, Z., Raj, A. H., Xiao, X., & Stone, P. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610668 · Cited by 24
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
Kang, J., Wang, Y., & Xiong, X. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3483043 · Cited by 16
“They have shown great capabilities and future potentials in addressing societal problems such as these in logistics, search and rescue, inspection, and entertainment [1].”
BackgroundWhat is the torque bandwidth of this actuator?
Malzahn, J., Kashiri, N., Roozing, W., Tsagarakis, N. G., & Caldwell, D. G. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206351 · Cited by 16
Comparison of predictive controllers for locomotion and balance recovery of quadruped robots
Corbères, T., Flayols, T., Léziart, P., Budhiraja, R., Souères, P., Saurel, G., & Mansard, N. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9560976 · Cited by 16
Analysis and Research of Quadruped Robot's Actuators: A Review
Hussain, K., Omar, Z., Wang, X., Adewale, O. O., & Elnour, M. (2021) · International Journal of Mechanical Engineering and Robotics Research · doi:10.18178/ijmerr.10.8.436-442 · Cited by 17
A Legged Soft Robot Platform for Dynamic Locomotion
Xia, B., Fu, J., Zhu, H., Song, Z., Jiang, Y., & Lipson, H. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561018 · Cited by 18
“[2] M.”
Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation
Kim, Y., Kim, C., & Hwangbo, J. (2022) · Robotics: Science and Systems · doi:10.15607/rss.2022.xviii.069 · Cited by 20
Self-citationHAPTR2: Improved Haptic Transformer for legged robots’ terrain classification
Bednarek, M., Nowicki, M., & Walas, K. (2022) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2022.104236 · Cited by 16
Shin, J., Kim, Y.-H., Kim, D.-Y., Yoon, G. H., & Seo, T. (2023) · International Journal of Precision Engineering and Manufacturing · doi:10.1007/s12541-023-00817-4 · Cited by 16
“ANYmal [1], a quadrupedal robot that features outstanding mobility and dynamic motion capability, can climb stairs reliably and quickly.”
BackgroundPosture Correction of Quadruped Robot for Adaptive Slope Walking
Yu, C., Zhou, L., Qian, H., & Xu, Y. (2018) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2018.8665093 · Cited by 16
“There have been some awesome quadruped robot platforms rushing into research field such as BigDog[1], HyQ [2], StarlETH[3], AnyMal [4][5], LittleDog [6].”
Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion
Belter, D., Bednarek, J., Lin, H.-C., Xin, G., & Mistry, M. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8793801 · Cited by 18
A Novel Optimization Design of Dual-Slide Parallel Elastic Actuator for Legged Robots
Liu, S., Ding, J., Lu, C., Wang, Z., Su, B., & Guo, Z. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3401546 · Cited by 15
“Compared with these robots, which are driven by rigid actuators (RA), articulated soft-legged robots could reduce energy costs, improve interaction safety, and execute explosive motions, by integrating passive elastic elements in actuation design [4], [5], [6].”
BackgroundRobust Quadrupedal Jumping With Impact-Aware Landing: Exploiting Parallel Elasticity
Ding, J., Atanassov, V., Panichi, E., Kober, J., & Santina, C. D. (2024) · IEEE Transactions on Robotics · doi:10.1109/tro.2024.3411988 · Cited by 15
“In the field of articulated soft quadrupeds with purposefully designed mechanical compliance, the series compliance arrangement, such as [2], [3], and[4] and the parallel arrangement, such as [5], [6], [7], and [8] each come with their own benefits, among which parallel elasticity has the potential…”
BackgroundCNNs based Foothold Selection for Energy-Efficient Quadruped Locomotion over Rough Terrains
Chen, L., Ye, S., Sun, C., Zhang, A., Deng, G., Liao, T., & Sun, J. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961842 · Cited by 15
Centroidal-momentum-based trajectory generation for legged locomotion
Li, C., Ding, Y., & Park, H.-W. (2020) · Mechatronics · doi:10.1016/j.mechatronics.2020.102364 · Cited by 15
Kobayashi, M., & Motoi, N. (2021) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/ieeeconf49454.2021.9382692 · Cited by 15
“The bipedal and quadrupedal robot can go over obstacles that cannot be overcome by the wheeled robot [ 8 ] .”
BackgroundPower Efficient Design a Compliant Robotic Leg Based on Klann's Linkage
Bastien, J., & Birglen, L. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2022.3208224 · Cited by 15
“Walking machines are often designed and programmed to meet several requirements mostly focusing on energy efficiency, stability, speed, and robustness [1], [2], [3].”
BackgroundHow to Train Your Guide Dog: Wayfinding and Safe Navigation with Human-Robot Modeling
Kim, J. T., Yu, W., Tan, J., Turk, G., & Ha, S. (2023) · ACM/IEEE International Conference on Human-Robot Interaction (HRI) · doi:10.1145/3568294.3580076 · Cited by 14
“The cost of quadruped robots has been falling in recent years: ANYmal [5] costed $200k in 2016 to A1 [1] was $10k in 2020.”
BackgroundA Wheel to Leg Transformation Strategy in a Leg-Wheel Transformable Robot
Wang, H.-Y., Chen, L., Yu, W.-S., & Lin, P. (2023) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim46323.2023.10196156 · Cited by 14
Engineering Compliance in Legged Robots Via Robust Co-Design
Bravo-Palacios, G., Li, H., & Wensing, P. M. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3382305 · Cited by 14
“Among robots with elastic actuators, legged robots using SEAs include the original HyQ [20] and ANYmal [21] quadrupeds, and the Cassie [22] and ATRIAS [23] bipeds.”
A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots
Prados, C., Hernando, M., Gambao, E., & Brunete, A. (2024) · Biomimetics · doi:10.3390/biomimetics9060319 · Cited by 14
“Reverse articulated torque under the unreasonable walking way LAURON V [8], ANY-mal [9], ATHLETE [10], ROMERIN [11,12] High maneuverability, high mobile speed, and high energy efficiency Reverse articulated torque under the unreasonable walking way, difficult to control, and low versatility Momaro…”
BackgroundImperative learning: A self-supervised neuro-symbolic learning framework for robot autonomy
Wang, C., Ji, K., Geng, J., Ren, Z., Fu, T., Yang, F., Guo, Y., He, H., Chen, X., Zhan, Z., et al. (2025) · The International Journal of Robotics Research · doi:10.1177/02783649251353181 · Cited by 29
“We adopt an ANYmal-legged robot (Hutter et al. 2016) which is equipped with an NVIDIA Jetson Orin and Intel Realsense D435 front-facing depth camera.”
SCALER: Versatile Multilimbed Robot for Free-Climbing in Extreme Terrains
Tanaka, Y., Shirai, Y., Schperberg, A. V., Lin, X., & Hong, D. (2025) · IEEE Transactions on Robotics · doi:10.1109/tro.2025.3588446 · Cited by 14
“They have shown versatility and maneu-verability in locomotion [2] and have demonstrated contact-rich tasks such as object manipulation with their own bodies [3].”
Single‐Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot
Chen, M., Li, Q., Wang, S., Zhang, K., Chen, H., & Zhang, Y. (2021) · Complexity · doi:10.1155/2021/6627043 · Cited by 14
“A series leg is simple in structure, easy to control, and has a large working space, but its load carrying capacity is relatively small, and installing the drive unit or transmission element at the joint increases the inertia of the leg, such as the ANYmal robot developed by ANYbotics [20].”
BackgroundDynamic Legged Manipulation of a Ball Through Multi-Contact Optimization
Yang, C., Zhang, B., Zeng, J., Agrawal, A., & Sreenath, K. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341218 · Cited by 14
“There are several quadrupedal robot platforms developed for different tasks including manipulation [5], [6], [10], [13].”
BackgroundEffect of compliance on morphological control of dynamic locomotion with HyQ
Urbain, G., Barasuol, V., Semini, C., Dambre, J., & wyffels, F. (2021) · Autonomous Robots · doi:10.1007/s10514-021-09974-9 · Cited by 14
“This has been handled using hydraulic actuators, e.g. in Big Dog (Raibert et al. 2008) and HyQ (Semini et al. 2011) robot or using Series Elastic Actuation (SEA), which combine passive and active properties, on theANYmal robot (Hutter et al. 2016).”
Behavior-Based Control Architecture for Legged-and-Climber Robots
Hernando, M., Alonso, M., Prados, C., & Gambao, E. (2021) · Applied Sciences · doi:10.3390/app11209547 · Cited by 14
“present Free Gait in [24] a software framework for the task-oriented control of legged robots, which they check over ANYmal [25].”
MethodAceituno-Cabezas, B., Dai, H., Cappelletto, J., Grieco, J. C., & Fernández, G. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206313 · Cited by 14
“Multilegged robots are powerful platforms when traversing rough terrains [1], [2], [3].”
BackgroundLeg Design to Enable Dynamic Running and Climbing on BOBCAT
Austin, M. P., Brown, J. M., Young, C. A., & Clark, J. E. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8594355 · Cited by 14
Safe Robot Navigation via Multi-Modal Anomaly Detection
Wellhausen, L., Ranftl, R., & Hutter, M. (2020) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000392927 · Cited by 14
Self-citation
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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