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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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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
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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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Research works printed but not linked: 2
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- 0, ATLAS Robot, Boston Dynamics
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Items 401–500 of 969
Introducing Force Feedback in Model Predictive Control
Kleff, S., Dantec, E., Saurel, G., Mansard, N., & Righetti, L. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982003 · Cited by 9
A Novel Design and Evaluation of a Dactylus-Equipped Quadruped Robot for Mobile Manipulation
Tsvetkov, Y. D., & Ramamoorthy, S. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982229 · Cited by 9
“Two of the more popular quadruped robot platforms that have become mature enough to be commercialised (Boston Dynamics Spot [4] and ANYbotics ANYmal [5]) are marketed with inspection as a primary motivation.”
BackgroundProactivity of fish and leadership of self-propelled robotic fish during interaction
Zhou, Z., Liu, J., Pan, J., & Yu, J. (2023) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/acce87 · Cited by 9
“locomotion mimicry, where robots imitate animal motion mechanisms to achieve motion patterns and capabilities comparable to those of animals, such as fish-like swimming for robotic fish and dog-like walking for robotic dogs [31].”
BackgroundWu, Y., Guo, S. L., Li, L., Niu, L., & Li, X. (2023) · Frontiers of Mechanical Engineering · doi:10.1007/s11465-022-0740-0 · Cited by 8
“Hence, China’s Zhurong rover [5] adopts an active suspension concept to swiftly extricate the rover trapped in the sand, whereas the EU ExoMars Rover [6] is also equipped with a collapsible active suspension to gain more flexibility.”
BackgroundTwisting Spine or Rigid Torso: Exploring Quadrupedal Morphology via Trajectory Optimization
Caporale, J. D., Feng, Z., Rozen-Levy, S., Carter, A. M., & Koditschek, D. E. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10160450 · Cited by 9
“State of the art and commercially available [1] [2] [3] quadrupedal robot morphology has converged around the twelve degree-of-freedom (DoF), 3DoF legged, rigid torso robots similar to the MIT Mini-Cheetah [4] or ANYmal [5].”
MethodA Legged Robot With Thigh Bi-Articular Muscle-Tendon Complex
Hiasa, S., Sato, R., Kurokawa, K., Wang, L., Liu, H., Meng, F., & Ming, A. (2021) · IEEE Access · doi:10.1109/access.2021.3074322 · Cited by 9
“Hence, the number of legged robots using electromagnetic motors with good controllability has been increasing year by year [5]–[9].”
BackgroundBruce -- Design and Development of a Dynamic Hexapod RobotPreprint
Steindl, R., Molnar, T., Talbot, F., Hudson, N., Tam, B., Murrell, S., & Kottege, N. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2011.00523 · Cited by 9
“However, compared to quadruped robots, where multiple platforms are able to achieve speeds greater than 1 ms−1 [1], [11], [3], [4], [12], [13], [2], hexapod robots have not been able to travel at this speed, with the exception of RHex [14], [15], a six degree of freedom (DOF) hexapod robot with compliant legs.”
A Novel Review on Quadruped Robots Design Variants, Gait Modulation, and Motion Planning Schemes
Azeez, S., Mandava, R. K., & Naik, N. S. (2025) · Journal of Field Robotics · doi:10.1002/rob.22575 · Cited by 12
Temperature Compensation Method for a Six-Axis Force/Torque Sensor Using a Gated Recurrent Unit
Kim, H., Lee, S., Ham, B.-I., Choi, K. H., & Kim, K.-S. (2025) · IEEE Sensors Journal · doi:10.1109/jsen.2025.3573643 · Cited by 8
“R ECENTLY, various types of robots, including collaborative, legged, and mobile robots, have been actively studied [1], [2], [3], [4], [5].”
OmniQuad: A wheeled-legged hybrid robot with omnidirectional wheels
Iotti, F., Ranjan, A., Angelini, F., & Garabini, M. (2025) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2025.106125 · Cited by 8
ForestLPR: LiDAR Place Recognition in Forests Attentioning Multiple BEV Density Images
Shen, Y., Tuna, T., Hutter, M., Cadena, C., & Zheng, N. (2025) · IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings - IEEE Computer Society Conference on Computer Vision and Pattern Recognition/Proceedings · doi:10.1109/cvpr52734.2025.00624 · Cited by 8
“We collected a dataset in forests from a low perspective using the quadrupedal robot ANYmal[16, 17], equipped with a Velodyne VLP-16 scanner.”
Self-citationJoint Space Position/Torque Hybrid Control of the Quadruped Robot for Locomotion and Push Reaction
Sim, O., Jeong, H., Oh, J., Lee, M. Y., Lee, K. K., Park, H.-W., & Oh, J.-H. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197230 · Cited by 8
“First, feedback control of the torque directly measured by a sensor [10] or by the deformation in series elastic of the output joint [2], [3].”
BackgroundSun, Y., Hua, Z., Li, Y., Chai, H., Li, X., & Su, B. (2021) · International Journal of Advanced Robotic Systems · doi:10.1177/17298814211062006 · Cited by 8
Sun, T., Dai, Z., & Manoonpong, P. (2023) · Frontiers in Neural Circuits · doi:10.3389/fncir.2023.1111285 · Cited by 10
“The main advantages of the proposed approach over existing locomotion control approaches, such as classic engineering techniques (Raibert et al., 2008; Hutter et al., 2016; Semini et al., 2017; Bledt et al., 2018) and ML (e.”
BackgroundDesign and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration
Olsen, J. A., & Alexis, K. (2023) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar58858.2023.10406863 · Cited by 8
“MIT mini cheetah [36], Boston Dynamics Spot [27], and ANYbotics ANYmal [26] use serial linkage with actuators in the hip and/or knee.”
BackgroundMangalore, A. R., Guerra, G. A. F., Risbud, S. R., Stratmann, P., & Wild, A. (2024) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2024.3415005 · Cited by 8
“To demonstrate the value of our neuromorphic QP solver, we apply it to solving the QPs arising in model predictive control in the quadrupedal robot ANYmal [9], a state-of-the-art quadrupedal robot.”
ZMP-Based Trajectory Generation for Bipedal Robots Using Quadratic Programming
Савин, С. (2019) · Advances in computational intelligence and robotics book series · doi:10.4018/978-1-5225-9924-1.ch007 · Cited by 8
Slope Handling for Quadruped Robots Using Deep Reinforcement Learning and Toe Trajectory Planning
Mastrogeorgiou, A., Elbahrawy, Y. S., Kecskeméthy, A., & Papadopoulos, E. G. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341645 · Cited by 8
“In most cases, state-of-the-art model-based control approaches require an accurate dynamics model of the robot and include state estimation to contact scheduling, trajectory optimization, and foot placement planning [1, 2, 3, 4].”
BackgroundDesign and Implementation of Symmetric Legged Robot for Highly Dynamic Jumping and Impact Mitigation
Wang, L., Meng, F., Kang, R., Sato, R., Chen, X., Yu, Z., Ming, A., & Huang, Q. (2021) · Sensors · doi:10.3390/s21206885 · Cited by 8
“Many state-of-the-art legged robots, such as Atlas [1], BHR [2], Bigdog [3], ANYmal [4], MIT Cheetah [5], Jueying [6], HyQ [7], SCalf [8], Minitaur [9], Stanford doggo [10], GOAT [11], and Salto [12], have achieved significant advancements.”
BackgroundSafe-Nav: learning to prevent PointGoal navigation failure in unknown environments
Jin, S., Meng, Q., Dai, X.-Y., & Hou, H.-R. (2022) · Complex & Intelligent Systems · doi:10.1007/s40747-022-00648-2 · Cited by 9
Efficient learning of robust quadruped bounding using pretrained neural networks
Wang, Z., Li, A., Zheng, Y., Xie, A., Li, Z., Wu, J., & Zhu, Q. (2022) · IET Cyber-Systems and Robotics · doi:10.1049/csy2.12062 · Cited by 10
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Mitchell, A. L., Merkt, W., Geisert, M., Gangapurwala, S., Engelcke, M., Jones, Ō. P., Havoutis, I., & Posner, I. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2023.3297015 · Cited by 9
Feller, D. (2023) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-023-01900-8 · Cited by 8
“Considering the concept of actuation, many robots employ a mechanical design with the actuators being placed in serial order along the joints of the mechanism, which can be observed for example at the robots ANYmal [20] or MIT Cheetah 3 [21].”
BackgroundDevelopment of torque controllable leg for running robot, AiDIN-IV
Lee, Y. H., Lee, Y. H., Lee, H.-Y., Phan, L. T., Kang, H., Kim, Y. B., & Choi, H. R. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206271 · Cited by 8
Compliance Control and Analysis for Equivalent Hydraulic Legs
Chen, G., Guo, S. L., Hou, B., & Wang, J. (2020) · IEEE Access · doi:10.1109/access.2020.3015333 · Cited by 8
“As for quadruped robots, many famous ones are Bigdog [8], HyQ [9], HyQ2MAX [10], StarlETH [11], Anymal [12],MIT Cheetah 1∼3 [13]–[15], Cheetah-cub [16], minitaur [17] and AlienGo [18] etc.”
BackgroundSensing Anomalies as Potential Hazards: Datasets and Benchmarks
Mantegazza, D., Redondo, C., Espada, F., Gambardella, L. M., Giusti, A., & Guzzi, J. (2022) · Lecture notes in computer science · doi:10.1007/978-3-031-15908-4_17 · Cited by 8
“[4] verify the ground traversability for a legged ANYmal [34] robot in unknown environments.”
Du, W., Fnadi, M., & Amar, F. B. (2022) · Multibody System Dynamics · doi:10.1007/s11044-021-09809-6 · Cited by 8
“For locomotion, grasping motion and whole-body behavior, impedance control is widely applied in legged robots to interact compliantly with the environment, including humanoid robots: THOR [25], TORO [16], and quadruped robots: Little dog [6], HyQ [4], HyQ2Max [44], StarlETH [27], ANYmal [29], MIT cheetah robot [30].”
MethodFore-Aft Leg Specialization Controller for a Dynamic Quadruped
Brown, J. M., Carbiener, C. P., Nicholson, J. V., Hemenway, N. R., Pusey, J. L., & Clark, J. E. (2018) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2018.8460763 · Cited by 8
“With the development of multi-legged robotics with multi degree of freedom (DOF) legs, such as MIT’s Cheetahs [7], Boston Dynamics’ BigDog [8], ANYmal [9], and Minitaur [10] (shown in Fig.”
BackgroundDistributed Progressive Formation Control with One-Way Communication for Multi-Agent Systems
Queralta, J. P., Gia, T. N., Tenhunen, H., Westerlund, T., Li, Q., & Zou, Z. (2019) · IEEE Symposium Series on Computational Intelligence (SSCI) · doi:10.1109/ssci44817.2019.9002798 · Cited by 7
“With part of the robotics community aiming at developing robots with capabilities that match or even outperform those of nature [6], others explore the possibilities of creating complex behaviour from relatively simple robots [7], [8].”
BackgroundEM-Act: A Modular Series Elastic Actuator for Dynamic Robots
Gopanunni, R. K. M., Martignetti, L., Iotti, F., Ranjan, A., Angelini, F., & Garabini, M. (2024) · IEEE Open Journal of the Industrial Electronics Society · doi:10.1109/ojies.2024.3400052 · Cited by 7
“However, this compliance limits control bandwidth, making the design of joint level control structure more dif-ficult [7].”
BackgroundKawaharazuka, K., Inoue, S., Suzuki, T., Yuzaki, S., Sawaguchi, S., Okada, K., & Inaba, M. (2024) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids58906.2024.10769853 · Cited by 9
“Consequently, a variety of quadruped robots, such as ANYMAL [3], Unitree Go1 [8], and DEEPRobotics Lite3 [9], are now available for purchase worldwide.”
Robust Walking and Sim-to-Real Optimization for Quadruped Robots via Reinforcement Learning
Ji, C., Liu, D., Gao, W., & Zhang, S. (2024) · Journal of Bionic Engineering · doi:10.1007/s42235-024-00618-z · Cited by 7
“…adaptiveness in highly unstructured environments and potential applications in field work, disaster relief and planetary surface exploration [1, 2]. increasingly complex terrains [15], more kinds and quantities of sensors [16–18] need to be installed on the robot body, which greatly increases…”
Miller, A. J., Yu, F., Brauckmann, M., & Farshidian, F. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128575 · Cited by 21
Hierarchical Tri-Manual Planning for Vision-Assisted Fruit Harvesting with Quadrupedal Robots
Liu, Z., Zhou, J., & Karydis, K. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127561 · Cited by 7
“Aerial robots equipped with robotic arms are used in precision agriculture, which enable interaction with objects from the air, adding a new dimension to robotic manipulation [13], [17], [18].”
Evaluation and Comparison of SEA Torque Controllers in a Unified Framework
Rampeltshammer, W. F., Keemink, A. Q. L., Sytsma, M., van Asseldonk, E. H. F., & van der Kooij, H. (2023) · Actuators · doi:10.3390/act12080303 · Cited by 7
Rapid and Reversible Morphing to Enable Multifunctionality in Robots
Wilcox, B. T., Joyce, J., & Bartlett, M. D. (2024) · Advanced Intelligent Systems · doi:10.1002/aisy.202300694 · Cited by 8
A compact six-axis force/torque sensor using photocouplers for impact robustness
Kim, H., Choi, K. H., & Kim, K.-S. (2024) · Review of Scientific Instruments · doi:10.1063/5.0186378 · Cited by 7
Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot
Richter, J., Kolvenbach, H., Valsecchi, G., & Hutter, M. (2024) · International Conference on Space Robotics (iSpaRo) · doi:10.1109/isparo60631.2024.10688158 · Cited by 7
“We focus our experiments on the quadruped robot ANYmal [20].”
MethodSelf-citationPath Planning and Motion Control of Robot Dog Through Rough Terrain Based on Vision Navigation
Chen, T., Huangfu, Y., Srigrarom, S. S., & Khoo, B. C. (2024) · Sensors · doi:10.3390/s24227306 · Cited by 8
“Researchers and developers are currently focusing on enhancing their autonomy, load-bearing capacity, and gait efficiency by integrating advanced control algorithms and artificial intelligence, enabling these robots to execute complex tasks with greater efficiency and flexibility [2].”
RATE: Real-time Asynchronous Feature Tracking with Event Cameras
Ikura, M., Gentil, C. L., Muller, M. G., Schuler, F., Yamashita, A., & Stürzl, W. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802050 · Cited by 7
“This capability is particularly important for tasks too risky for direct human interaction, as exemplified by quadrupedal robots deployed in challenging environments and equipped with laser sensors and cameras for perception [1], [2].”
Optimization-driven design and experimental validation of a hydraulic robot leg mechanism
Bakırcıoğlu, V., Çabuk, N., Jond, H. B., & Kalyoncu, M. (2025) · Measurement · doi:10.1016/j.measurement.2025.117096 · Cited by 7
Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Models
Chen, A. S., Lessing, A. M., Tang, A., Chada, G., Smith, L. M., Levine, S., & Finn, C. (2024) · IEEE International Conference on Robotics and Automation · doi:10.1109/icra55743.2025.11127234 · Cited by 25
Autonomous Mission with a Mobile Manipulator—A Solution to the MBZIRC
Carius, J., Wermelinger, M., Rajasekaran, B., Holtmann, K., & Hutter, M. (2017) · Springer proceedings in advanced robotics · doi:10.1007/978-3-319-67361-5_36 · Cited by 7
Self-citationLee, K., Sim, O., Jeong, H., Oh, J., Bae, H., Hong, S., & Oh, J.-H. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593908 · Cited by 7
“Other robots provide torque feedback using strain gauge-based torque sensors [10][11] or control joint torque using series elastic actuators [12][13][14].”
MethodDesign, Manufacturing and Testing of a Hybrid Locomotion Mobile Robot “HyLMoR”
Koshy, M., Nair, A. R., & Krishnan, A. (2020) · Materials Today Proceedings · doi:10.1016/j.matpr.2020.04.444 · Cited by 7
Tail-Based Anchoring on Granular Media for Transporting Heavy Payloads
Fernandez, J., & Mazumdar, A. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3057289 · Cited by 7
“To this end, there have been many innovations in transport of relatively heavy items which include using gecko-inspired adhesives on smooth surfaces [1], robots with spines on rough surfaces [2], and legged robots on paved asphalt [3].”
An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility
Feng, S., Gu, Y., Guo, W., Guo, Y., Wan, F., Pan, J., & Song, C. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561829 · Cited by 7
“It is a common practice in engineering design to reduce the total number of parts to enhance the system’s robustness at a An overview of mechanisms for legged robots including close-loop [4], [5], [6], [7] and open-chain [8], [9], [10], [11].”
BackgroundYin, K., Zhou, S., Sun, Q., & Gao, F. (2021) · Sensors · doi:10.3390/s21175680 · Cited by 7
“On the other hand, legged robots are well designed in many fields such as running robots, Bigdog [9], Cheetah-3 [10] and Anymal [11,12]; underwater robots, Crabster [13,14]; heavy-duty robots, Octopus [15]; and exploration robots, Athlete [16], Spaceclimber [17] and Spacebok [18,19].”
BackgroundPre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback
Sato, R., Arita, H., & Ming, A. (2022) · IEEE Access · doi:10.1109/access.2022.3153127 · Cited by 7
“A series elastic actuator [3], [16], [17] enables reasonable torque control without a force sensor; however, the control bandwidth is limited.”
BackgroundZheng, Y., Li, L., Xiang, Y., He, Y., Yan, C., & Asano, F. (2022) · Biomimetic Intelligence and Robotics · doi:10.1016/j.birob.2022.100048 · Cited by 7
Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics
Angelidis, E., Bender, J., Arreguit, J., Gleim, L., Wang, W., Axenie, C., Knoll, A., & Ijspeert, A. J. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982036 · Cited by 7
“com/doc/reference/fluid Figure 2: Example surface particle discretization of an Anymal C robot [42].”
MethodFree Gait Generation of Quadruped Robots via Impulse-Based Feasibility Analysis
Sun, H., Yang, J., Jia, Y., & Wang, C. (2023) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2023.3279523 · Cited by 7
“Recently, many motion planning and control algorithms [2], [3], [4] have been proposed and applied to the MIT Cheetah 3 [5], ANYmal [6], IIT HyQ [7], and other quadruped systems [8], [9].”
MethodTerrain Recognition and Contact Force Estimation Through a Sensorized Paw for Legged Robots
Vangen, A., Barnwal, T., Olsen, J. A., & Alexis, K. (2023) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar58858.2023.10407030 · Cited by 7
“The paw of the T RACE Paw is specifically designed to be roughly proportionate in size to the shoe size of the ANYmal legged robot [9].”
BackgroundMethodGait design and comparison study of a quadruped robot
Zhou, L., Qian, H., Xu, Y., & Liu, W. (2017) · IEEE International Conference on Information and Automation (ICIA) · doi:10.1109/icinfa.2017.8078886 · Cited by 7
“The ANYMal is able to carry out outdoor activities for 2h and crawl very steep stairs[5].”
BackgroundDesign and analysis of a novel planar robotic leg for high-speed locomotion
Kamidi, V. R., Saab, W., & Ben‐Tzvi, P. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206540 · Cited by 7
“Such examples include, but are not limited to, the ANYmal quadruped [2] and the Adaptive Suspension Vehicle [3] developed for nuclear power plant maintenance and field transportation, respectively.”
BackgroundBionic Architecture Design and Robust Rough-Terrain Locomotion for a High-Payload Quadrupedal Robot
Lin, J., Deng, G., Chen, L., Jin, B., Sun, C., & Zhang, A. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961537 · Cited by 7
“These robots can go across challenging terrain with fewer COG fluctuations, such as wheeled ANYmal [14] and the Handle robot from Boston Dynamics Company.”
BackgroundInfluentialMobile Robot Manipulation System with a Reconfigurable Robotic Arm: Design and Experiment
Kang, P., Han, L., Xu, W., Wang, P., & Guo, Y. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961389 · Cited by 7
“However, most of the quadruped robots lack manipulation ability about the environment, such as Cheetah[4] and ANYmal[6].”
BackgroundConstructing ROS Package for Legged Robot in Gazebo Simulation from Scratch
Yeoh, C. E., Kim, D. B., Won, Y. B., Lee, S., & Yi, H. (2020) · International Conference on Control, Automation and Systems (ICCAS) · doi:10.23919/iccas50221.2020.9268358 · Cited by 7
Pinto, V. H., Gonçalves, J., & Costa, P. (2021) · Actuators · doi:10.3390/act10020029 · Cited by 7
“The team of the Robotic Systems Lab at ETH Zurich developed ANYmal [3], and the improved ANYmal on wheels [4], which is a quadrupedal robot, 0.”
BackgroundInfluentialOn the Effect of Robotic Leg Design on Energy Efficiency
Koutsoukis, K., & Papadopoulos, E. G. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9560997 · Cited by 7
“Examples of robots with impressive capabilities include Boston Dynamics’ Spot, and research quadrupeds such as ETH’s ANYmal [1], equipped with novel compliant joint modules, IIT’s hydraulic HyQ [2], and the MIT’s Cheetah 3, using proprioceptive electric motors [3].”
MethodXue, J., Chen, Z., Wang, L., Wang, J., Wang, J., & Wang, S. (2024) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2024.104764 · Cited by 6
Survey of Path Planning for Aerial Drone Inspection of Multiple Moving Objects
Sikora, T., & Papić, V. (2024) · Drones · doi:10.3390/drones8120705 · Cited by 6
Whole-Body Synergy-Based Balance Control for Quadruped Robots with Manipulators on Sloped Terrains
Kang, R., Ning, H., Meng, F., & He, Z. (2024) · Cyborg and Bionic Systems · doi:10.34133/cbsystems.0201 · Cited by 6
Design and Analysis of Quadruped Robot Leg with Variable Configuration
Yue, T., Sun, K., Guo, C., & Liu, H. (2018) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2018.8665132 · Cited by 6
Factor Graph-Based Trajectory Optimization for a Pneumatically-Actuated Jumping Robot
Tiziani, L. O., Zhang, Y., Dellaert, F., & Hammond, F. L. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561372 · Cited by 6
Design and Control of a Novel Six-Legged Skating Robot With Skateboards
Yang, L., Yin, Y., Gao, F., Wang, Z., Wang, L., Sun, Q., & Gao, H. (2023) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2023.3338010 · Cited by 6
“The quadruped robot ANYmal [18], [19] with excellent mobility can climb large obstacles through the walking gait, dynamic run through the trot gait, and climb steep stairs through the crawling gait.”
BackgroundStability and Safety Learning Methods for Legged Robots
Arena, P., Noce, A. L., & Patané, L. (2024) · Robotics · doi:10.3390/robotics13010017 · Cited by 10
“The method was validated in a 3D stepping stone scenario both in simulation and experimentally on the ANYmal quadruped platform [75].”
ARM4CH: A Methodology for Autonomous Reality Modelling for Cultural Heritage
Giakoumidis, N., & Anagnostopoulos, C. (2024) · Sensors · doi:10.3390/s24154950 · Cited by 6
“Additionally, the application of hybrid dynamical systems has achieved physically effective and robust instances of all virtual bipedal gaits on quadrupedal robots [17].”
BackgroundAutonomous Visual Navigation for Quadruped Robot in Farm Operation
Chen, Y., Wei, Z., Vougioukas, S. G., Gupta, S. K., & Nguyen, Q. (2024) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case59546.2024.10711780 · Cited by 6
“Therefore, legged robots emerge as a promising alternative, offering superior mobility and adaptability [5]– [7] to such harsh conditions of agricultural scenarios.”
BackgroundEvaluation and Design Recommendations for a Folding Morphing-wheg Robot for Nuclear Characterisation
Murphy, D., Giuliani, M., & Bremner, P. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802195 · Cited by 6
A Robust Visual SLAM System for Small-Scale Quadruped Robots in Dynamic Environments
Li, C., Zhang, Y., Yu, Z., Liu, X., & Shi, Q. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802163 · Cited by 6
Modelling, Trajectory Planning and Control of a Quadruped Robot Using Matlab®/Simulink™
Oliveira, I., Barbosa, R. S., & Silva, M. F. (2017) · Advances in intelligent systems and computing · doi:10.1007/978-3-319-70836-2_62 · Cited by 6
Improved Online Adjustment of Step Timing and Location for Legged Locomotion
Sun, H., Yang, J., An, H., & Wang, C. (2021) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-021-01406-1 · Cited by 6
“The ANYmal robot [13] could traverse complex obstacles like inclines and stairs autonomously by applying this method.”
MethodOptimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot
Chen, T., Rong, X., & Li, Y. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9560903 · Cited by 6
“A series of quadruped robots such as SPOT, Anymal[1], and HyQ[2] have demonstrated a variety of gait movements, disturbance recovery, and ability to move under uneven terrain.”
BackgroundSynergetic Effect between Limbs and Spine Dynamics in Quadruped Walking Robots
Li, L., Ma, S., Tokuda, I. T., Asano, F., Nokata, M., Tian, Y., & Du, L. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561851 · Cited by 6
Design and soft-landing control of a six-legged mobile repetitive lander for lunar exploration
Yin, K., Gao, F., Sun, Q., Liu, J., Xiao, T., Jian-zhong, Y., Jiang, S., Chen, X., Sun, J., Liu, R., et al. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9560984 · Cited by 6
“Secondly, different from some existing legged robots such as ANYmal[21], we have utilized PFBM to place the knee actuator at the hip other than the simple serial linkage between thigh and shank, which further reduced leg inertia for the actuator mass concentrated in the hip.”
MethodDistributed Active Learning for Semantic Segmentation on Walking Robots
Puck, L., Spielbauer, N., Schable, D., Schnell, T., Buttner, T., Roennau, A., & Dillmann, R. (2021) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar53236.2021.9659389 · Cited by 7
“In the proof of concept scenario the active learning nodes were deployed on ANYmal [3] while the annotation and training were performed on a base station.”
BackgroundMethodInfluentialCoupling Vision and Proprioception for Navigation of Legged Robots
Fu, Z., Kumar, A., Agarwal, A., Qi, H., Malik, J., & Pathak, D. (2022) · IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW) · doi:10.1109/cvprw56347.2022.00206 · Cited by 7
Polytopic Planar Region Characterization of Rough Terrains for Legged Locomotion
Xu, Z., Zhu, H., Chen, H., & Zhang, W. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981553 · Cited by 6
Control and study of bio-inspired quadrupedal gaits on an underactuated miniature robot
Askari, M., Uğur, M., Mahkam, N., Yeldan, A., & Özcan, O. (2023) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/acb127 · Cited by 6
“Having more compliant legs can help our robot get more similar results with animals, as shown in spring-loaded inverted pendulum type robots [13, 28, 29], but at the same time, it will move us away from our origamiinspired design mentality and complicate the manufacturing of the robot, making it almost impossible to m…”
BackgroundUnknown Slope-Oriented Research on Model Predictive Control for Quadruped Robot
Zhang, Z., An, H., Wei, X., & Ma, H. (2023) · Machines · doi:10.3390/machines11020133 · Cited by 6
“Since the 21st century, many excellent quadruped robots have emerged at home and abroad, such as Boston Dynamics’ Bigdog [1], MIT’s cheetah [2], ETH Zurich’s ANYmal [3], Unitree A1 [4], and Zhejiang University’s Jueying [5].”
BackgroundDesign and Automation of Hybrid Quadruped Mobile Robot for Industry 4.0 Implementation
Sivathanu, A. K., Dost, A. B., & Bhadani, S. (2023) · Contributions to environmental sciences & innovative business technology · doi:10.1007/978-3-031-20443-2_8 · Cited by 6
Bhounsule, P. A., & Yang, C. (2023) · Robotics · doi:10.3390/robotics12020035 · Cited by 6
ROMERIN: Organismo robótico escalador basado en patas modulares con ventosas activas
Prados, C., Hernando, M., Gambao, E., & Brunete, A. (2022) · Revista Iberoamericana de Automática e Informática Industrial RIAI · doi:10.4995/riai.2022.18749 · Cited by 6
Surana, S., Lim, B., & Cully, A. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161267 · Cited by 7
“Legged robots [1], [2], [3] have tremendous potential for”
BackgroundLearning and Reusing Quadruped Robot Movement Skills from Biological Dogs for Higher-Level Tasks
Wan, Q., Luo, A., Meng, Y., Zhang, C., Chi, W., Zhang, S., Liu, Y., Zhu, Q., Kong, S., & Yu, J. (2023) · Sensors · doi:10.3390/s24010028 · Cited by 6
“Examples of quadruped robots with similar structures include SpotMini (Boston Dynamics) [5], Cheetah 3 (MIT) [6], ANYMal (ETH) [7], A1 (Unitree) [8], and Lite 2 (DEEP Robotics) [9].”
BackgroundLife Extension: An Autonomous Docking Station for Recharging Quadrupedal Robots
Kolvenbach, H., & Hutter, M. (2017) · Springer proceedings in advanced robotics · doi:10.1007/978-3-319-67361-5_35 · Cited by 6
Self-citationBhattacharya, S., Ananthasuresh, G. K., & Ghosal, A. (2018) · Mechanics Based Design of Structures and Machines · doi:10.1080/15397734.2018.1439755 · Cited by 6
“Several such legged robots have been designed and built (for example, HyQ2Max (Semini et al., 2011), ANYmal (Hutter et al., 2016), Big-dog (Raibert et al., 2008)).”
BackgroundNimble Limbs - Intelligent attachable legs to create walking robots from variously shaped objects
Buettner, T., Heppner, G., Roennau, A., & Dillmann, R. (2019) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim.2019.8868845 · Cited by 6
“Not only, but especially shaped by the popular appearances and recent publications of some multi-legged forerunners such as Spot Mini by Boston Dynamics[1], Anymal by ETH Zurich[2] or Laikago by”
BackgroundDesign and Analysis of a Novel Adjustable Closed-chain Multi-legged Robot
Sen, W., Yanan, Y., & Jianxu, W. (2020) · Journal of Mechanical Engineering · doi:10.3901/jme.2020.19.191 · Cited by 6
“腿式移动相比于轮式和履带式有更好的地形适 应性,是因为腿式机器人足端以离散触地方式跨越 障碍物或壕沟,具有突出的灵活性和机动性。目前 腿式机器人多从仿生学角度出发,采用串联式的开 链腿部机构,例如:Bigdog([1])、HyQ2Max([2])、ANYmal([3])”
LiDAR-guided object search and detection in Subterranean Environments
Patel, M., Waibel, G., Khattak, S., & Hutter, M. (2022) · IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) · doi:10.1109/ssrr56537.2022.10018684 · Cited by 6
“During experiments, an ANYmal quadruped robot [29], equipped”
MethodSelf-citationObstacle Avoidance and Terrain Identification for a Hexapod RobotPreprint
Zhao, Y., Gao, F., & Yin, Y. (2020) · doi:10.21203/rs.3.rs-50693/v1 · Cited by 6
“[3-6] introduced a quadrupedal robot ANYmal which can be used in factory environment.”
MethodAbstraction-Based Planning for Uncertainty-Aware Legged Navigation
Jiang, J., Coogan, S., & Zhao, Y. (2023) · IEEE Open Journal of Control Systems · doi:10.1109/ojcsys.2023.3296000 · Cited by 6
“Legged locomotion and navigation have been extensively studied in recent years due to the accessibility of reliable, highly-agile quadrupedal [1], [2] and bipedal [3], [4] robotic platforms.”
BackgroundMOVE: Multi-Skill Omnidirectional Legged Locomotion With Limited View in 3D Environments
Li, S., Luo, S., Wu, J., & Zhu, Q. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127928 · Cited by 9
“Classical model-based techniques have achieved some promising results in legged locomotion [23], [24], [25], [26], [27], [28], [29], [30], enabling fast walking and jumping.”
Tethered UAV Autonomous Knotting on Environmental Structures for Transport
Jin, R., Xu, X., Yang, Y., Li, J., Cao, M., & Xie, L. (2025) · Cyborg and Bionic Systems · doi:10.34133/cbsystems.0450 · Cited by 5
“Second, directly coupling the motor to the cable allows efficient torque-to-tension conversion with minimal energy loss, giving these systems a higher load-carrying capacity than wheeled [ 4 ], legged [ 5 ], or aerial robots [ 6 – 9 ].”
DogSurf: Quadruped Robot Capable of GRU-based Surface Recognition for Blind Person Navigation
Bazhenov, A., Berman, V., Satsevich, S., Shalopanova, O., Cabrera, M. A., Lykov, A., & Tsetserukou, D. (2024) · ACM/IEEE International Conference on Human-Robot Interaction (HRI) · doi:10.1145/3610978.3640606 · Cited by 5
“Bednarek et al. [1] proposed to use data only from F/T sensor on quadrupedal robot ANYmal [7].”
MethodEnergy-Based Control of a Thruster-Assisted Underwater Hexapod Robot on Deformable Terrains
Chen, L., Cui, R., Yan, W., & Zhao, Z. (2024) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3403909 · Cited by 5
“U NLIKE conventional legged robots [1], [2], [3], [4], [5], the thruster-assisted underwater hexapod robot that we develop in Fig.”
Spined Torso Renders Advanced Mobility for Quadrupedal Locomotion
Wang, J., Cheng, J., Hu, J., Gao, W., & Zhang, S. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610113 · Cited by 5
“They have inspired researchers to replicate these abilities onto various types of quadrupedal robots [1], [2], [3], [4].”
BackgroundA biomimetic fruit fly robot for studying the neuromechanics of legged locomotion
Goldsmith, C., Haustein, M., Büschges, A., & Szczecinski, N. S. (2024) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ad80ec · Cited by 7
“Such an approach has been successfully applied to many modes of loco-motion including swimming [13, 46, 99], climbing [47, 76, 87], and flying [21, 54, 77] in addition to walking [26, 43, 65, 70].”
Zang, G., Dai, Z., & Li, Y. (2024) · Journal of Bionic Engineering · doi:10.1007/s42235-024-00609-0 · Cited by 5
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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