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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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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
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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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LLAMA: Design and Control of an Omnidirectional Human Mission Scale Quadrupedal Robot
Nicholson, J. V., Jasper, J., Kourchians, A., McCutcheon, G., Austin, M. P., Gonzalez, M., Pusey, J. L., Karumanchi, S. B., Hubicki, C. M., & Clark, J. E. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341492 · Cited by 15
“Quadrupedal robots are rapidly approaching these biological exemplars in the both their speed [1], [2], [3] and ability to move through rough terrain [4], [5], [6].”
BackgroundAutomatic Gait Pattern Selection for Legged Robots
Wang, J., Chatzinikolaidis, I., Mastalli, C., Wolfslag, W. J., Xin, G., Tonneau, S., & Vijayakumar, S. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340789 · Cited by 14
“We repeat the previous analysis for the 3D quadruped robot ANYmal.”
ResultInfluentialHURST, J. W., & Green, K. (2020) · Springer eBooks · doi:10.1007/978-3-642-41610-1_120-1 · Cited by 14
Positioning of Quadruped Robot Based on Tightly Coupled LiDAR Vision Inertial Odometer
Gao, F., Tang, W., Huang, J., & Chen, H. (2022) · Remote Sensing · doi:10.3390/rs14122945 · Cited by 13
“It also needs to maintain its balance through relatively intense movements such as lateral movement and autochthonous rotation [25].”
BackgroundOpen Robot Hardware: Progress, Benefits, Challenges, and Best Practices
Patel, V. V., Liarokapis, M. V., & Dollar, A. M. (2022) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2022.3225725 · Cited by 14
“This actuator assembly allows for high-performance torque and impedance control, previously limited to only complex legged robots like Anymal [73] or the Massachusetts Institute of Technology (MIT) Cheetah [74].”
BackgroundYang, S., Yang, Q., Zhu, R., Zhang, Z., Li, C., & Liu, H. (2023) · Neural Computing and Applications · doi:10.1007/s00521-023-08755-y · Cited by 13
“ETH Zurich has developed a quadruped robot ANYmal [13] in recent years.”
Automated Hyperparameter Tuning in Reinforcement Learning for Quadrupedal Robot Locomotion
Kim, M., Kim, J., & Park, J. (2023) · Electronics · doi:10.3390/electronics13010116 · Cited by 13
Smart Gait: A Gait Optimization Framework for Hexapod Robots
Yin, Y., Gao, F., Sun, Q., Zhao, Y., & Xiao, Y. (2024) · Chinese Journal of Mechanical Engineering · doi:10.1186/s10033-024-01000-0 · Cited by 13
“The quad-rupeds like Spot [1], ANYmal [2, 3], HyQ [4] and MIT Cheetah series [5–8], and hexapods like Octopus[9] and Qingzhui [10, 11] showed major progress in locomotion control of legged robots, and demonstrated their applications in challenging terrains.”
BackgroundZhang, Y., Zeng, J., Sun, H., Sun, H., & Hashimoto, K. (2024) · Applied Sciences · doi:10.3390/app14198697 · Cited by 14
Remote Inspection Techniques: A Review of Autonomous Robotic Inspection for Marine Vessels
Andersen, R. E., Brogaard, R. Y., & Boukas, E. (2024) · IEEE transactions on field robotics. · doi:10.1109/tfr.2024.3499916 · Cited by 13
“This work was further expanded [96] to include other vehicles, more specifically the legged robot ANYmal [98] from ANYbotics AG in Switzerland.”
GeRM: A Generalist Robotic Model with Mixture-of-experts for Quadruped Robot
Song, W., Zhao, H., Ding, P., Cui, C., Lyu, S., Fan, Y., & Wang, D. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801816 · Cited by 13
“Quadruped robots, known for their exceptional ability to traverse complex terrains and execute agile movements, have become a focal point in robotics research [1], [2].”
Enabling Remote Whole-Body Control with 5G Edge Computing
Zhu, H., Sharma, M., Pfeiffer, K., Mezzavilla, M., Shen, J., Rangan, S., & Righetti, L. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341113 · Cited by 13
“For example, ANYmal, one of the most advanced commercially available quadruped robot, carries 3 kg of batteries of about 650Wh energy [2] while the highend Nvidia Titan X consumes more than 250W of power, significantly impacting battery life if such computational power was embedded on the robot.”
BackgroundPerformance Analysis of Series Elastic Actuator Based on Maximum Torque Transmissibility
Lee, C. Y., & Oh, S. (2021) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2021.3059284 · Cited by 13
“is considered a significant issue that limits the performance of SEA [16]–[18], and it has been verified through the frequency response function measurement [16].”
Tiseo, C., Merkt, W., Babarahmati, K. K., Wolfslag, W. J., Havoutis, I., Vijayakumar, S., & Mistry, M. (2021) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2021.3098062 · Cited by 13
“(Figure 1) of the ANYmal robot [25] (ANYbotics, AG).”
BackgroundMechatronic Design and Control of a Light Weight Manipulator Arm for Mobile Platforms
Barrett, E., Hoffman, E. M., Baccelliere, L., & Tsagarakis, N. G. (2021) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim46487.2021.9517389 · Cited by 13
Pinto, V. H., Soares, I. N., Rocha, M., Lima, J., Gonçalves, J., & Costa, P. (2021) · Applied Sciences · doi:10.3390/app11136116 · Cited by 13
“Vehicles like the evolved ANYmal on Wheels [7], developed by Bjelonic et al.; Complios [8], developed by Bouton et al. at Université Pierre et Marie Curie; MOMARO [9], developed by Schwarz et al. at the University of Bonn; or CENTAURO [10], developed by Kashiri et al. at Istituto Italiano di Tecnologia (IIT), use the…”
BackgroundInfluentialKeppler, M., Ott, C., & Albu‐Schäffer, A. (2022) · International Journal of Robust and Nonlinear Control · doi:10.1002/rnc.6102 · Cited by 13
“diag(5, 5) for the PD+ controller and with v,1 = diag(15, 15), v,2 = diag(10, 10), Λ1 = diag(15, 15) andΛ2 = diag(10, 10) for the Slotine and Li controller.”
BackgroundDesign and Motion Planning for a Reconfigurable Robotic Base
Pankert, J., Valsecchi, G., Baret, D., Zehnder, J., Pietrasik, L. L., Bjelonic, M., & Hutter, M. (2022) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2022.3189166 · Cited by 13
Self-citationLocomotion generation for quadruped robots on challenging terrains via quadratic programming
Jiang, X., Chi, W., Zheng, Y., Zhang, S., Ling, Y., Xu, J., & Zhang, Z. (2022) · Autonomous Robots · doi:10.1007/s10514-022-10068-3 · Cited by 13
Animal Motions on Legged Robots Using Nonlinear Model Predictive Control
Kang, D., Vincenti, F. D., Adam, N. C., & Coros, S. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981945 · Cited by 13
“[21] use a Gauss–Newton multiple shooting (GNMS) approach to optimize for both stepping locations and timings using the full system dynamics of ANYmal [22].”
MethodQuadrupedal locomotion using trajectory optimization and hierarchical whole body control
Gehring, C., Bellicoso, C. D., Fankhauser, P., Coros, S., & Hutter, M. (2017) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2017.7989557 · Cited by 13
“Progress in research and industry enabled to build powerful quadrupedal robots in recent years [1], [2], [3].”
BackgroundSelf-citationTrajectory design and control of quadruped robot for trotting over obstacles
Lee, Y. H., Lee, Y. H., Lee, H., Phan, L. T., Kang, H., Kim, U., Jeon, J., & Choi, H. R. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206368 · Cited by 13
Wang, Z., Ge, W., Zhang, Y., Liu, B., Liu, B., Jin, S., & Li, Y. (2023) · Bioengineering · doi:10.3390/bioengineering10050582 · Cited by 12
“At present, hinge joints are the mainstream design scheme for legged robot knee joints, such as Boston Dynamics’ bipedal robot Atlas [15] and IIT’s bipedal robot WALK-MAN [45], and ETH’s quadrupedal robot ANYmal [1], etc.”
MethodInfluentialIqbal, A., Veer, S., & Gu, Y. (2023) · Proceedings of the ... American Control Conference/Proceedings of the American Control Conference · doi:10.23919/acc55779.2023.10156645 · Cited by 12
“Previous studies on legged robot planning and control have demonstrated stable legged locomotion on stationary (even or uneven) surfaces [1]–[7].”
BackgroundGrow Your Limits: Continuous Improvement with Real-World RL for Robotic Locomotion
Smith, L., Cao, Y.-H., & Levine, S. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610485 · Cited by 28
Kang, J., Kim, H., Ham, B.-I., & Kim, K.-S. (2024) · IEEE Access · doi:10.1109/access.2024.3485094 · Cited by 12
“Representative quadruped robot platforms include IIT’s HyQ [1], the MIT Cheetah series [2], [3], [4], [5] and ETH’s ANYmal [6] and commercial products like Boston Dynamics’ Spot [7] and Unitree’s A1 and Go1 [8], [9].”
A Novel Mobility Concept for Terrestrial Wheel-Legged Lunar Rover
Yakubu, M., Zweiri, Y., AbuAssi, L., Azzam, R., Abubakar, A., Busoud, A., & Seneviratne, L. D. (2025) · IEEE Access · doi:10.1109/access.2025.3529262 · Cited by 12
Stella, F., Achkar, M. M., Santina, C. D., & Hughes, J. (2025) · Nature Machine Intelligence · doi:10.1038/s42256-025-00988-x · Cited by 15
“Yet, the mainstream approach to robotic locomotion is not to replicate the physical functionality of animal systems but to approximate the biomechanics and morphology, relying on standard rigid robotic components in conjunction with serial actuators 8,9 .”
An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
Liu, Y., & Ben‐Tzvi, P. (2019) · Journal of Mechanisms and Robotics · doi:10.1115/1.4045689 · Cited by 12
Legged Robots for Autonomous Inspection and Monitoring of Offshore Assets
Ramezani, M., Brandão, M., Casseau, B., Havoutis, I., & Fallon, M. F. (2020) · Offshore Technology Conference · doi:10.4043/30694-ms · Cited by 12
OpenSHC: A Versatile Multilegged Robot Controller
Tam, B., Talbot, F., Steindl, R., Elfes, A., & Kottege, N. (2020) · IEEE Access · doi:10.1109/access.2020.3031019 · Cited by 12
“However, the trade-off of this versatility and mobility is the significant challenges in mechanical and control complexity [3].”
BackgroundStability Control of Quadruped Robot Based on Active State Adjustment
Gu, S., Meng, F., Liu, B., Zhang, Z., Sun, N., & Wang, M. (2023) · Biomimetics · doi:10.3390/biomimetics8010112 · Cited by 12
“In recent years, the research on the quadruped robot has been gradually oriented to practical scene applications [1–3].”
BackgroundComputational Design of Closed-Chain Linkages: Hopping Robot Driven by Morphological Computation
Nasonov, K. V., Ivolga, D. V., Borisov, I. I., & Kolyubin, S. A. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161209 · Cited by 12
“However, since the available technologies shape robots’ performance, the current generation of quadruped legged robots such as [3], [4], [5] have evolved into robots with similar type of morphology such as a brick-shaped body and four 3R legs, high torque density actuators [6], and control strategy, such as model pred…”
BackgroundRen, Z., Roozing, W., & Tsagarakis, N. G. (2018) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids.2018.8624960 · Cited by 12
“Its advantages in enhancing energy efficiency [2], [3], robust torque control ability [4]–[7], and physical robustness [8], [9] have been well verified.”
BackgroundMulti-controller multi-objective locomotion planning for legged robots
Brandão, M., Fallon, M. F., & Havoutis, I. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967926 · Cited by 12
“We demonstrate our approach on the ANYmal quadruped robot [1] with a combination of simulated and real world examples, and focus on our goal to deploy the system in an offshore facility similar to the one depicted in Fig.”
MethodOptimized Jumping of an Articulated Robotic Leg
Shen, J., Liu, Y., Zhang, X., & Hong, D. W. (2020) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur49135.2020.9144799 · Cited by 12
Energy-saving movement strategies in animals and plants for robot design
Mazzolai, B., Dottore, E. D., Speck, T., Rowe, N. P., & Laschi, C. (2025) · Nature Reviews Bioengineering · doi:10.1038/s44222-025-00344-z · Cited by 11
Reinforcement learning in robotic systems : A review on sim-to-real transfer
Tiwari, R., Khapre, S. P., & Singh, A. (2026) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2025.105327 · Cited by 12
Xu, S., Zhang, W., Zhu, L., & Ho, C. P. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161260 · Cited by 14
“The advanced mobility of quadruped robots motivates a lot of works on the development of quadruped machines, such as ANYmal [1], HyQ [2], MIT Cheetah series [3]–[6] from the robotics research community, and Boston Dynamics Spot [7] and Unitree A1 [8] from the commercial robot companies.”
BackgroundDevelopment of a Pneumatically Actuated Quadruped Robot Using Soft–Rigid Hybrid Rotary Joints
Jiang, Z., Wang, Y., & Zhang, K. (2024) · Robotics · doi:10.3390/robotics13020024 · Cited by 11
“Compared to wheeled and 40 tracked robots, electric motor-driven legged robots [1,7] have the ability to make and [10-11] and underground mines [12], but their electronic components are at high risk of being damaged in radiation-contaminated spaces.”
BackgroundAdaptive Interactive Control of Human and Quadruped Robot Load Motion
Gu, S., Meng, F., Liu, B., Chen, X., Yu, Z., & Huang, Q. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3425857 · Cited by 11
“However, these applications are mainly designed for predictable multirobot routines [5], [6], and presenting smooth human–robot interaction capabilities in unstructured environments remains challenging today [7], [8].”
Exploiting Adaptability in Soft Feet for Sensing Contact Forces
Mura, D., Santina, C. D., Piazza, C., Frizza, I., Morandi, C., Garabini, M., Grioli, G., & Catalano, M. G. (2019) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2019.2952292 · Cited by 11
“Quadrupedal robots often feature feet with cylindrical or spherical shape [2], [3], while the most advanced humanoid robots have flat feet.”
BackgroundHeight Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots
Zhuang, Y., Xu, Y., Huang, B., Chao, M., Shi, G., Yang, X., Zhang, K., & Fu, C. (2021) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm52023.2021.9536196 · Cited by 11
“Combined with the high mobility efficiency [3] from wheeled robots and the ability to deal with complicated terrains from bipedal robots [4], the wheeled-bipedal robots can complete flexible locomotion missions [5].”
BackgroundOptimization-free Ground Contact Force Constraint Satisfaction in Quadrupedal Locomotion
Sihite, E. N., Dangol, P., & Ramezani, A. (2021) · IEEE Conference on Decision and Control (CDC) · doi:10.1109/cdc45484.2021.9683155 · Cited by 11
“and multi-pedal) has been extensively addressed [1]–[3].”
Kamikawa, Y., Kinoshita, M., Takasugi, N., Sugimoto, K., Kai, T., Kito, T., Sakamoto, A., Nagasaka, K., & Kawanami, Y. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636196 · Cited by 11
“used in ANYmal [12] have excellent force control capability as well as good impact mitigation properties that are important for dynamic locomotion without increasing the motor diameter, despite the high gear ratio system.”
BackgroundMethodInfluentialOptimal planar leg geometry in robots and crabs for idealized rocky terrain
Chen, Y., Clifton, G. T., Graf, N. M., Durand, K., Taylor, J. R. A., Gong, Y., Grezmak, J. E., & Daltorio, K. A. (2022) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ac8f04 · Cited by 12
“doglike robots [23, 41] in figure 1 and a robot with abstracted insect-like legs [42, 43].”
BackgroundA Wheels-on-Knees Quadruped Assistive Robot to Carry Loads
Li, W., Wei, L., & Zhang, X. (2022) · Applied Sciences · doi:10.3390/app12189239 · Cited by 11
Route Planning for Autonomous Mobile Robots Using a Reinforcement Learning Algorithm
Talaat, F. M., Ibrahim, A. F., El‐kenawy, E. M., Abdelhamid, A. A., Alhussan, A. A., Khafaga, D. S., & Salem, D. A. (2022) · Actuators · doi:10.3390/act12010012 · Cited by 11
MoCLORA—An Architecture for Legged-and-Climbing Modular Bio-Inspired Robotic Organism
Prados, C., Hernando, M., Gambao, E., & Brunete, A. (2022) · Biomimetics · doi:10.3390/biomimetics8010011 · Cited by 11
“As a result of this, robots such as ANYmal [18], StarlETH [19], or Spot [20] have appeared and show great performance when walking and running on rough terrain and obstacles.”
BackgroundRahman, M. H., Alam, S. B., Mou, T. D., Uddin, M. F., & Hasan, M. (2023) · Robotics · doi:10.3390/robotics12010028 · Cited by 11
Design Guidelines for Bioinspired Adaptive Foot for Stable Interaction With the Environment
Ranjan, A., Angelini, F., Nanayakkara, T., & Garabini, M. (2023) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2023.3326602 · Cited by 11
“Most quadruped walkers (e.g., Spot [10], ANYmal [11]) use ball feet that make point contact with the ground.”
BackgroundProprioception and Tail Control Enable Extreme Terrain Traversal by Quadruped Robots
Yang, Y., Norby, J., Yim, J. K., & Johnson, A. M. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342384 · Cited by 11
“Pro-prioception on quadruped robots can be achieved by contact sensing [13,14] or generalized disturbance observers that utilize highly transparent actuation [15–17].”
BackgroundPei, Y., Han, T., Zallek, C. M., Liu, T., Yang, L., & Hsiao‐Wecksler, E. T. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3065242 · Cited by 11
“, humanoids [31], quadruped robots [32], or prosthetics [33], their use has been absent in the field of medical training simulators.”
BackgroundAdaptive Fuzzy Robust Control of a Bionic Mechanical Leg With a High Gain Observer
Liao, L., Li, B., Wang, Y., Xi, Y., Zhang, D., & Gao, L. (2021) · IEEE Access · doi:10.1109/access.2021.3091132 · Cited by 11
“Multi-leg walking robots as one kind of bionic robot, compared with traditional wheeled robots and caterpillar robots, possess flexible movement performance, a powerful obstacle avoidance ability and an excellent terrain adaptability [11], and have become prominent research object, including bipedal robots (the humano…”
BackgroundIqbal, A., & Gu, Y. (2021) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2021.11.155 · Cited by 11
A Walking Claw for Tethered Object Retrieval
Gong, Y., Behr, A. M., Graf, N. M., Chen, K., Gong, Z., & Daltorio, K. A. (2022) · Journal of Mechanisms and Robotics · doi:10.1115/1.4055812 · Cited by 11
Design and Characterization of 3D Printed, Open-Source Actuators for Legged Locomotion
Urs, K., Adu, C. E., Rouse, E. J., & Moore, T. Y. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981940 · Cited by 11
“While Series Elastic Actuators (SEAs) have been used effectively to mitigate impact forces, improve torque fidelity, and store energy [2], [4], [22], [23], Quasi-”
BackgroundIqbal, A., Veer, S., & Gu, Y. (2023) · Mechatronics · doi:10.1016/j.mechatronics.2023.103073 · Cited by 10
Design and Analysis of Tracked Stair-Climbing Robot Using Innovative Suspension System
Pappalettera, A., Reina, G., & Mantriota, G. (2024) · Robotics · doi:10.3390/robotics13030045 · Cited by 10
“Examples of legged robots are WL-16 II [13], Lee [14], ANYmal [15], and RHex [16].”
BackgroundQuadrupedal Locomotion With Parallel Compliance: E-Go Design, Modeling, and Control
Ding, J., Posthoorn, P., Atanassov, V., Boekel, F., Kober, J., & Santina, C. D. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3402321 · Cited by 10
“To improve robustness, increase energy efficiency, or realize highly dynamic motions, passive elastic elements can be integrated into the complex robotic system [4]–[7], resulting in articulated soft quadrupeds (also called elastic, elastically actuated, or compliant quadrupeds) [8].”
Mongeau, J.-M., Yang, Y. J., Escalante, I., Cowan, N. J., & Jayaram, K. (2024) · Integrative and Comparative Biology · doi:10.1093/icb/icae121 · Cited by 10
A Compliant Robotic Leg Based on Fibre Jamming
Liow, L., Brett, J., Pinskier, J., Hanson, L. M., Tidswell, L., Kottege, N., & Howard, D. (2024) · IEEE Transactions on Robotics · doi:10.1109/tro.2024.3443714 · Cited by 10
“L EGGED robotics is a rapidly evolving field, with recent applications ranging from search-and-rescue operations [1] totheexplorationofcomplexandunstructuredenvironments[2], [3].”
BackgroundLiu, B., Meng, F., Gu, S., Chen, X., Yu, Z., & Huang, Q. (2025) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2025.3546734 · Cited by 10
“D UE to the discontinuous support movement characteristics, quadruped robots can overcome rough and challenging terrains [1], [2], [3], [4], [5], [6].”
Akki, S., & Chen, T. (2025) · IEEE Access · doi:10.1109/access.2025.3582523 · Cited by 11
“Initially, predefined gaits and closed-loop The associate editor coordinating the review of this manuscript and approving it for publication was Martin Reisslein . feedback mechanisms, such as Proportional-Derivative (PD) controllers, were used to achieve locomotion.”
Adaptive Slope Locomotion with Deep Reinforcement Learning
Jones, W., Blum, T., & Yoshida, K. (2020) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii46433.2020.9025928 · Cited by 10
“Design of physical hardware such as quadruped robots like ANYmal and Cheetah, take inspiration from the successful evolution of highly specialised animals in the real world [1][2][3].”
BackgroundCPG-Actor: Reinforcement Learning for Central Pattern Generators
Campanaro, L., Gangapurwala, S., Martini, D. D., Merkt, W., & Havoutis, I. (2021) · Lecture notes in computer science · doi:10.1007/978-3-030-89177-0_3 · Cited by 11
Design and Study of a Stair Climbing Robots with Two Wheels and a “4R+2P” Pattern
Wu, G., Wu, L., Wang, H., Yang, W., Wang, Z., Zhang, Z., & Shen, T. (2022) · Machines · doi:10.3390/machines10080631 · Cited by 10
Spring-linkage integrated mechanism design for jumping robots
Yin, X., Yan, J., Wen, S., & Zhang, J. (2022) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2022.104268 · Cited by 10
Cascaded Compositional Residual Learning for Complex Interactive Behaviors
Kumar, K. N., Essa, I. A., & Ha, S. (2023) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2023.3286171 · Cited by 12
“cists [14], [15], [16], [17], [18], [19] have approached this problem with a combination of different frameworks and algorithms like trajectory optimization, model-predictive and whole-body control to demonstrate robust and agile locomotion.”
BackgroundZhang, Y., Thor, M., Dilokthanakul, N., Dai, Z., & Manoonpong, P. (2023) · Neural Networks · doi:10.1016/j.neunet.2023.08.030 · Cited by 10
Actuator synchronization for adaptive motion generation without any sensor or microprocessor
MASUDA, Y., Minami, Y., & Ishikawa, M. (2017) · Asian Control Conference (ASCC) · doi:10.1109/ascc.2017.8287100 · Cited by 10
“Examples of such difficulty include large degree of freedom to adapt to complex tasks and environments in the real world [1], [2], [3], and flexible continuum structures [4] that have been developed in soft robotics field.”
BackgroundCable-Driven Actuation for Highly Dynamic Robotic Systems
Hwangbo, J., Tsounis, V., Kolvenbach, H., & Hutter, M. (2018) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000279306 · Cited by 10
Self-citationForce-controllable Quadruped Robot System with Capacitive-type Joint Torque Sensor
Lee, Y. H., Lee, Y. H., Lee, H., Kang, H., Phan, L. T., Jin, S., Kim, Y. B., Seok, D.-Y., Lee, S. Y., Moon, H., et al. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794459 · Cited by 10
“This method can provide robust and excellent torque/force controllability against external impacts without using expensive sensors [5]–[7], and legged robots equipped with SEAs such as StarlETH [8], ANYmal [9], AiDIN-IV [10] and Atrias [11] have been shown excellent performance and potential for practical use.”
MethodOptimization-Based Quadrupedal Hybrid Wheeled-Legged Locomotion
Belli, I., Polverini, M. P., Laurenzi, A., Hoffman, E. M., Rocco, P., & Tsagarakis, N. G. (2021) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids47582.2021.9555780 · Cited by 10
Ji, Y., Zhang, B., & Sreenath, K. (2021) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case49439.2021.9551481 · Cited by 10
“ANYmal is a highly mobile and dynamic quadrupedal robot [27].”
BackgroundLiu, Y., & Ben‐Tzvi, P. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9811871 · Cited by 10
Design and Motion Planning for a Reconfigurable Robotic Base
Pankert, J., Valsecchi, G., Baret, D., Zehnder, J., Pietrasik, L. L., Bjelonic, M., & Hutter, M. (2022) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000555761 · Cited by 10
Self-citationLi, H., Yu, W., Zhang, T., & Wensing, P. M. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981967 · Cited by 12
“I. INTRODUCTION Over the past decade, the promise of legged robots benefiting our daily life has dramatically increased following successful demonstrations from several legged robot platforms such as Atlas, Spot, ANYmal [1], MIT Cheetah 3 [2], and many others.”
BackgroundMechanical design of a compact and dexterous quadruped robot
Yang, J., Jia, W., Sun, Y., Pu, H., Ma, S., Chen, L., & Han, B. (2017) · IEEE International Conference on Mechatronics and Automation (ICMA) · doi:10.1109/icma.2017.8016030 · Cited by 10
“developed scarlETH [14] and the follower ANYmal [15].”
BackgroundHuman Motion Control of Quadrupedal Robots using Deep Reinforcement Learning
Kim, S., Sorokin, M., Lee, J., & Ha, S. (2022) · Robotics: Science and Systems XVIII · doi:10.15607/rss.2022.xviii.021 · Cited by 9
WAVES: Soft-Material Based Adaptable Walking-Type Stair-Climbing Robot for Various Step Sizes
Park, S., Shin, J., Kim, Y.-H., & Seo, T. (2024) · IEEE Access · doi:10.1109/access.2024.3355955 · Cited by 9
“Legged robots, i.e., HyTRo-I [15], ANYmal [16], and Spot [17], demonstrate a high capacity to overcome obstacles via gait control.”
BackgroundAdaptive tensegrity foot design for quadruped robots in unstructured terrains
Dong, H., Gan, J., Xia, R., Lu, Z., Chen, B., & Chen, M. (2024) · Smart Materials and Structures · doi:10.1088/1361-665x/ada2cc · Cited by 9
“These robots integrate features such as shock-absorbing flexible joints [2], fault-tolerant legs [3], obstacle self-balancing tensegrity spines [4–6], and fast-response bistable spines [7], which collectively enhance their operational capabilities across challenging terrains.”
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments
Ginting, M. F., Fan, D. D., Kim, S.-K., Kochenderfer, M. J., & Agha–mohammadi, A. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802336 · Cited by 9
“Since z is conditioned on the object state y i , the observation measurements can be assumed to be independent of each other.”
Watanabe, T., Kubo, A., Tsunoda, K., Matsuba, T., Akatsuka, S., Noda, Y., Kioka, H., Izawa, J., Ishii, S., & Nakamura, Y. (2025) · Scientific Reports · doi:10.1038/s41598-025-94163-2 · Cited by 13
Obstacle-Avoidant Leader Following with a Quadruped Robot
Scheidemann, C., Werner, L., Reijgwart, V., Cramariuc, A., Chomarat, J., Chiu, J.-R., Siegwart, R., & Hutter, M. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127912 · Cited by 9
“This work aims to enable dynamic person following using ANYmal [1], a quadrupedal robotic platform, shown in Figure 1.”
Self-citationVepsäläinen, J. (2022) · Energies · doi:10.3390/en15062198 · Cited by 10
Design of a Small Quadruped Robot with Parallel Legs
Ming, L., Jing, B., Duan, H., & Gao, G. (2022) · Complexity · doi:10.1155/2022/9663746 · Cited by 9
“Of the medium-sized quadruped robots, the outstanding ones are MIT Cheetah [10–12], ANYmal [13, 14], Spot [15], and Aliengo [16].”
Landing control method of a lightweight four-legged landing and walking robot
Yin, K., Qi, C., Gao, Y., Sun, Q., & Gao, F. (2022) · Frontiers of Mechanical Engineering · doi:10.1007/s11465-022-0707-1 · Cited by 9
Allione, F., Gamba, J. D., Gkikakis, A. E., Featherstone, R., & Caldwell, D. G. (2023) · Frontiers in Robotics and AI · doi:10.3389/frobt.2023.1211531 · Cited by 9
“In particular, they should be able to walk, run, jump, and so on, at speeds comparable to those of humans and animals (Semini et al., 2011; Hutter et al., 2016; Semini et al., 2017; Katz et al., 2019).”
BackgroundMethodLiterature review: Efficiency, environment and robotization in first and last mile logistics
Kotļars, A., & Skribans, V. (2024) · Transportation Research Interdisciplinary Perspectives · doi:10.1016/j.trip.2024.101215 · Cited by 9
Minimalist Design of a 3-Axis Passive Compliant Foot for Sprawling Posture Robots
Melo, K., Horvat, T., & Ijspeert, A. J. (2019) · IEEE International Conference on Soft Robotics (RoboSoft) · doi:10.1109/robosoft.2019.8722792 · Cited by 9
High speed segway control with series elastic actuator for driving stability improvement
Yun, H.-N., Bang, J., Kim, J., & Lee, J.-M. (2019) · Journal of Mechanical Science and Technology · doi:10.1007/s12206-019-1039-x · Cited by 9
Design and Control of 7-DOF Omni-directional Hexapod Robot
Žák, M., Rozman, J., & Zbořil, F. (2020) · Open Computer Science · doi:10.1515/comp-2020-0189 · Cited by 9
“While hexapod robots are very statically stable and can operate even after losing a leg, quadrupedal robots are more efficient and agile, e.g., SPOT [10], ANYmal [11] or HyQ2Max [12] are even capable of jumping.”
BackgroundMulti-task Control for a Quadruped Robot with Changeable Leg Configuration
Ye, L., Liu, H., Wang, X., Liang, B., & Yuan, B. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340965 · Cited by 9
“However, MIT Cheetah and Anymal are two exceptions.”
BackgroundInfluentialKeppler, M., Loeffl, F., Wandinger, D., Raschel, C., & Ott, C. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3097079 · Cited by 9
Simulation-Based Climbing Capability Analysis for Quadrupedal Robots
Uno, K., Valsecchi, G., Hutter, M., & Yoshida, K. (2021) · Lecture notes in networks and systems · doi:10.1007/978-3-030-86294-7_16 · Cited by 9
Self-citationBio-Inspired Take-Off Maneuver and Control in Vertical Jumping for Quadruped Robot with Manipulator
Kang, R., Meng, F., Wang, L., Chen, X., Yu, Z., Fan, X., Sato, R., Ming, A., & Huang, Q. (2021) · Micromachines · doi:10.3390/mi12101189 · Cited by 9
“Quadruped robots have recently demonstrated impressive advanced dynamic motion capabilities using a variety of driving methods and control strategies, such as BigDog [5], MIT Cheetah3 [6], SpotMini [7], ANYmal [8], HyQ [9], Ghost [10] and Aliengo [11].”
BackgroundThe Fluid Field SLIP Model: Terrestrial-Aquatic Dynamic Legged Locomotion
Austin, M. P., & Clark, J. E. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561102 · Cited by 9
“Some of these specialist robots in the terrestrial domain include: Cheetah [2], Anymal [3], and Cassie [4], in the scansorial domain: Tails [5], and Stickybot [6], and in the aquatic domain: Aqua [7] and bio-inspired beetle [8] and frog [9] robots.”
BackgroundVision-based Navigation for a Small-scale Quadruped Robot Pegasus-Mini
Deng, G., Luo, J., Sun, C., Pan, D., Peng, L., Ding, N., & Zhang, A. (2021) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio54168.2021.9739369 · Cited by 9
“The earliest ANYmal is equipped with a rotating Hokuyo UTM-30lx laser sensor for navigation and three intel NUC PC for computing [5].”
MethodWheeled jumping robot by power modulation using twisted string lever mechanism
Liu, X., Jin, Y., Jiang, L., & Wang, H. (2021) · Journal of Zhejiang University. Science A · doi:10.1631/jzus.a2000618 · Cited by 9
“Mobile robots with locomotion ability on the ground are generally categorized into wheeled robots and legged robots according to the specific types of motion (Hutter et al., 2016; Bledt et al., 2018).”
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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