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ANYmal - a highly mobile and dynamic quadrupedal robot
Open accessAbstract
This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance, and user-friendly handling to enable future operation in real world scenarios. Performance tests with the joint actuators indicated a torque control bandwidth of more than 70 Hz, high disturbance rejection capability, as well as impact robustness when moving with maximal velocity. It is demonstrated in a series of experiments that ANYmal can execute walking gaits, dynamically trot at moderate speed, and is able to perform special maneuvers to stand up or crawl very steep stairs. Detailed measurements unveil that even full-speed running requires less than 280 W, resulting in an autonomy of more than 2 h.
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“The controller was used to drive two generations of ANYmal quadrupeds [20] in a variety of conditions that are beyond the reach of prior published work in legged robotics.”
From Learning quadrupedal locomotion over challenging terrain (2020) · cites this paper as [20]
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Cites
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Design and Control Considerations for High-Performance Series Elastic Actuators
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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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STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION
Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M. A., Remy, C. D., & Siegwart, R. (2012) · WORLD SCIENTIFIC eBooks · doi:10.1142/9789814415958_0062 · Cited by 245
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- boaventura, 2013, Hydraulic Compliance Control of the Quadruped Robot HyQ
- 0, ATLAS Robot, Boston Dynamics
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Items 501–600 of 969
Kazemipour, A., Hinchet, R., & Katzschmann, R. K. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128116 · Cited by 7
“This design paradigm offers significant advantages over conventional rigid robots [6]– [8], including reduced power requirements for equivalent torque, enhanced joint accuracy, and a more streamlined form factor [9].”
Garriga-Casanovas, A., Khalili, P., & Cegla, F. (2020) · IEEE Sensors Journal · doi:10.1109/jsen.2020.3002418 · Cited by 5
“Examples of these platforms are unmanned aerial vehicles [1], robotic arms mounted on a mobile robotic base [2], [3], legged robots capable of locomotion on uneven surfaces [4], [5], and underwater vehicles [6], [7].”
BackgroundState-Consistency Loss for Learning Spatial Perception Tasks From Partial Labels
Nava, M., Gambardella, L. M., & Giusti, A. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3056378 · Cited by 5
“Wellhausen et al. [5] estimate the traversability and the class of terrain using camera images and supervisory data from torque sensors mounted on an ANYmal quadruped [14].”
BackgroundKakogawa, A., Mori, Y., FUKASAWA, T., Kurimoto, N., Tokunaga, S., Tokuda, T., Yamamoto, A., & Kawamura, S. (2022) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii52469.2022.9708868 · Cited by 5
Coupling 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/cvprw56347.2022.00508 · Cited by 5
Design, analysis and method of foot trajectory generation for quadruped robots in swing-stance phase
Biswal, P., & Mohanty, P. K. (2022) · World Journal of Engineering · doi:10.1108/wje-10-2021-0615 · Cited by 5
Stumpf, A., & von Stryk, O. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9811711 · Cited by 5
Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
Chen, Y., Lian, L., Hsieh, Y.-H., Nguyen, Q., & Gupta, S. K. (2022) · Journal of Mechanisms and Robotics · doi:10.1115/1.4055625 · Cited by 5
Chen, L., & Lin, P. (2022) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim52237.2022.9863277 · Cited by 5
“Quadruped robots were born under this concept and have been proven to be an effective solution by the hard work of many research teams in recent years [1-4].”
BackgroundDyno-Kinematic Leg Design for High Energy Robotic Locomotion
Austin, M. P., Brown, J. M., Nicholson, J. V., & Clark, J. E. (2022) · Journal of Mechanisms and Robotics · doi:10.1115/1.4055998 · Cited by 5
DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators
Song, T.-G., Shin, Y.-H., Hong, S., Choi, H. C., Kim, J.-H., & Park, H.-W. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981201 · Cited by 5
“Typical actuators are composed of a motor that provides power, and a reducer to convert the torque and speed for the desired application [1], [2].”
BackgroundContact Force Control with Continuously Compliant Robotic Legs
Bendfeld, R., & Remy, C. D. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10160269 · Cited by 5
Wheely: An Accessible Platform for Experimenting with Wheeled-Legged Quadrupedal Robots
Zhang, W., & Wang, K. (2023) · International Conference on Computer, Control and Robotics (ICCCR) · doi:10.1109/icccr56747.2023.10193993 · Cited by 5
“In addition, the low-cost nature of servo motors makes it significantly cheaper compared to custom made actuators on other quadrupeds such as the MIT Mini Cheetah [19] or ANYmal [4].”
BackgroundInfluentialDevelopment of A Dynamic Quadruped with Tunable, Compliant Legs
Chen, F., Tao, W., & Aukes, D. M. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342283 · Cited by 5
“Through a variety of legged robots including but not limited to quadrupeds, researchers have demonstrated that properly tuned leg stiffness can improve stability [1], [2], impact resistance [3], efficiency [4], [5], peak power output [6], and payload capacity [7].”
BackgroundLearning Robust Locomotion for Bipedal Robot via Embedded Mechanics Properties
Zhang, Y., Chen, X., Meng, F., Yu, Z., Du, Y., Gao, J., & Huang, Q. (2024) · Journal of Bionic Engineering · doi:10.1007/s42235-023-00452-9 · Cited by 5
“And then, the trained policy was deployed on wheel-quadruped robot ANYmal [30].”
Breaking Symmetries Leads to Diverse Quadrupedal Gaits
Ding, J., & Gan, Z. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3384908 · Cited by 5
“Because of its simplicity, trotting gait is widely adopted on quadrupedal robots such as the MIT mini-cheetah robot [1] or the ETH ANYmal robot [2].”
BackgroundSoft Bilinear Inverted Pendulum: A Model to Enable Locomotion With Soft Contacts
Benedittis, D. D., Angelini, F., & Garabini, M. (2024) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2024.3504342 · Cited by 5
Legged Systems for Exploration
Kolvenbach, H., Arm, P., Valsecchi, G., Rudin, N., & Hutter, M. (2024) · Springer eBooks · doi:10.1007/978-3-031-39214-6_7 · Cited by 6
Self-citationAccurate power consumption estimation method makes walking robots energy efficient and quiet
Valsecchi, G., Vicari, A., Tischhauser, F., Garabini, M., & Hutter, M. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10802798 · Cited by 7
Self-citationOtto—Design and Control of an 8-DoF SEA-Driven Quadrupedal Robot
Scaldaferri, A., Tolomei, S., Iotti, F., Gambino, P., Pierallini, M., Angelini, F., & Garabini, M. (2025) · IEEE Open Journal of the Industrial Electronics Society · doi:10.1109/ojies.2025.3567112 · Cited by 5
“Taking inspiration from nature [6], quadruped robots are designed to have 12 degrees of freedom (12-DoF), [7], [8], [9], [10], with each leg having three actuated joints: hip adduction–abduction (HAA), hip flexion–extension (HFE), and knee flexion–extension (KFE).”
Challenges in visual and inertial information gathering for a sprawling posture robot
Parsapour, M., Melo, K., Horvat, T., & Ijspeert, A. J. (2017) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2017.8206094 · Cited by 5
Joint Torque Estimation for Dynamic Jumping Control of Compliant Gear-Driven Legged Robot
Cheng, D., Jin, B., Sun, C., Zhang, A., & Liu, S. (2019) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio49542.2019.8961584 · Cited by 5
On the efficient control of series-parallel compliant articulated robots
Amara, V. D., Malzahn, J., Ren, Z., Roozing, W., & Tsagarakis, N. G. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9196786 · Cited by 5
“While SEAs have matured to be the preferred drive units in many contemporary highperformance robots [1], [2], [3], PEAs have not attracted equal attention although they have shown massive energyefficiency benefits [4], [5], [6], [7].”
BackgroundA Sensor Fusion Method for Pose Estimation of C-Legged Robots
León, J. D. L. F., Arroyo, R. C., & Barrientos, A. (2020) · Sensors · doi:10.3390/s20236741 · Cited by 5
“The robots with legs are inspired in diverse types of animal species that can walk, whether biped (ATLAS [1], TEO [2]), quadruped (Cheetah [3], Anymal [4]), hexapods (LAURON [5], R-III [6]) or octopods.”
BackgroundDesign and Development of an Embedded Controller for a Hydraulic Walking Robot WLBOT
Liu, Z., Zhang, C., Jin, B., Zhai, S., & Dong, J. (2021) · Applied Sciences · doi:10.3390/app11125335 · Cited by 5
“) running the robot operating system (ROS) with a 400 Hz actuator control frequency, including inspection PC, navigation PC, and locomotion PC [25].”
MethodPlanning Natural Locomotion for Articulated Soft Quadrupeds
Pollayil, M. J., Santina, C. D., Mesesan, G., Englsberger, J., Seidel, D., Garabini, M., Ott, C., Bicchi, A., & Albu‐Schäffer, A. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9812416 · Cited by 5
Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds
Vezzi, F., Ding, J., Raffin, A., Kober, J., & Santina, C. D. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610561 · Cited by 7
“Quadrupedal robots [1]–[3] promise to address real-world challenges due to their potential advantages in terms of mobility and versatility.”
BackgroundLegged Robots with Bioinspired Morphology
Poulakakis, I., Madhusudhan Venkadesan, A., Mandre, S., Bandi, M. M., Clark, J. E., Hosoda, K., Weckx, M., Vanderborght, B., & Sharbafi, M. A. (2017) · Elsevier eBooks · doi:10.1016/b978-0-12-803766-9.00010-5 · Cited by 6
An Analytical Study on Trotting at Constant Velocity and Height
Machairas, K., & Papadopoulos, E. G. (2018) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2018.8593686 · Cited by 5
“a serial two-segmented leg [6]) will result in expressions that can be used in the same manner.”
BackgroundMethodDevelopment of a Bipedal Robot with Bi-articular Muscle-tendon Complex between Hip and Knee Joint
Hiasa, S., Sato, R., Ming, A., Meng, F., Liu, H., Fan, X., Chen, X., Yu, Z., & Huang, Q. (2018) · IEEE International Conference on Cyborg and Bionic Systems (CBS) · doi:10.1109/cbs.2018.8612220 · Cited by 5
“electromagnetic motors have been developed recently [7][11].”
A C-Legged Monopedal Robot and Its Transition From Multiple Locomotion Modes
Bai, G., & Bernhard Thomaszewski, A. (2020) · Journal of Mechanisms and Robotics · doi:10.1115/1.4046049 · Cited by 5
Development of Control System for a SEA-Joint Based on Active Damping Injection
Shardyko, I., Samorodova, M., & Titov, V. (2020) · International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) · doi:10.1109/icieam48468.2020.9111886 · Cited by 5
“Considering robots with fixed compliance, there can be named Valkyrie [6] from NASA, ANYpulator [10] and ANYmal [11] from ETH Zurich as representative solutions.”
BackgroundLearning Stable Manoeuvres in Quadruped Robots from Expert Demonstrations
Tirumala, S., Gubbi, S., Paigwar, K., Sagi, A., Joglekar, A., Bhatnagar, S., Ghosal, A., Amrutur, B. S., & Kolathaya, S. (2020) · IEEE RO-MAN · doi:10.1109/ro-man47096.2020.9223511 · Cited by 5
“The domain of quadrupedal research has reached industrial markets today with quite a few research labs/companies successfully commercializing their quadruped robots [1], [2], [3].”
BackgroundContact Surface Estimation via Haptic Perception
Lin, H.-C., & Mistry, M. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9196816 · Cited by 5
“The method was validated on both a simulated environment and the quadruped robot ANYmal.”
MethodInfluentialDu, W., Fnadi, M., Moullet, E., & Amar, F. B. (2021) · Journal of Intelligent & Robotic Systems · doi:10.1007/s10846-021-01503-1 · Cited by 5
“Very promising research results in terms of weight, size, and actuation principle are published along the development of hydraulic HyQ [42], HyQmini [21] and HyQ2Max [21] in IIT’s Dynamic Legged System Lab, and electronic Starl ETH [18] and ANYmal [19] in ETH Z¨urich Robotic Systems Lab.”
BackgroundMechanism analysis of cheetah’s high-speed locomotion based on digital reconstruction
Zhang, X., Zhao, C., Xu, Z., & Huang, S. (2021) · Biomimetic Intelligence and Robotics · doi:10.1016/j.birob.2021.100033 · Cited by 5
Mechanical Shock Testing of Incremental and Absolute Position Encoders
Allione, F., Singh, B. R. P., Gkikakis, A. E., & Featherstone, R. (2021) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar53236.2021.9659349 · Cited by 5
Do They Really Try to Save Their Buddy? Anthropomorphism about Animal Epimeletic BehavioursPreprint
Sueur, C., Forin-Wiart, M.-A., & Pelé, M. (2020) · Preprints.org · doi:10.20944/preprints202008.0711.v1 · Cited by 5
“At two moments on the video, an engineer kicks the dog-robot to demonstrate its stability (at 24” and 30”) but see also other videos of Boston Dynamics [83,84].”
MethodDeep Multi-Modal Contact Estimation for Invariant Observer Design on Quadruped Robots.Preprint
Lin, T.-Y., Zhang, R., Yu, J., & Ghaffari, M. (2021) · arXiv (Cornell University) · Cited by 5
Research on high-smooth walking and adaptive obstacle-crossing of closed-chain multi-legged robot
Yang, H. W., Zhou, J., Wu, J., & Yao, Y. (2025) · Mechanism and Machine Theory · doi:10.1016/j.mechmachtheory.2025.106123 · Cited by 4
Development of Low-Inertia Backdrivable Arm Focusing on Learning-Based Control
Nishiura, M., Hatano, A., Nishii, K., & Okumatsu, Y. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981337 · Cited by 4
“However, it is not suitable for high-speed operation because the responsiveness of the arm is determined by the characteristics of the elastic element [6] [7].”
BackgroundBuffalo Byte: A Highly Mobile and Autonomous Millirobot Platform
Singh, S., Truax, R., & Pierre, R. S. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3375290 · Cited by 4
“For larger robots, such as the MIT Cheetah [5] and ANYmal [6], legs can enable highly dynamic locomotion over non-smooth terrain easily, but present challenges in design and control [7].”
MethodDreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multimodal Reinforcement Learning
Nahrendra, I. M. A., Yu, B., Oh, M., Lee, D., Lee, S., Lee, H., Lim, H., & Myung, H. (2026) · IEEE Transactions on Robotics · doi:10.1109/tro.2026.3653774 · Cited by 14
“We evaluated the scalability of DreamWaQ++ by applying it to legged robots with different morphologies and sizes by training controllers for ANYmal-C [59] and Hound [60] robots.”
Liu, K., Gu, J., He, X., & Zhang, L. (2024) · Measurement Science and Technology · doi:10.1088/1361-6501/ad8fc2 · Cited by 4
“If a legged robot like ANYmal [7] is to autonomously traverse complex environments, it must have the ability to select footholds suitable for the terrain while always maintaining balance, a challenging task [8].”
Egocentric visual self-modeling for autonomous robot dynamics prediction and adaptation
Hu, Y., Chen, B., & Lipson, H. (2025) · npj Robotics · doi:10.1038/s44182-025-00031-6 · Cited by 10
“Similarly, the ANYmal robot, designed by Robotic Systems Lab, employs visual perception for tasks like mapping and localization, but the semantic information extracted from visual data is primarily used for navigation rather than influencing the robot’s intrinsic dynamics [21].”
A Propagation Perspective on Recursive Forward Dynamics for Systems With Kinematic Loops
Chignoli, M., Adrian, N., Kim, S., & Wensing, P. M. (2025) · IEEE Transactions on Robotics · doi:10.1109/tro.2025.3593081 · Cited by 4
“For example, the parallel belt transmission of the MIT Humanoid [4] [see Fig.”
Meaningful Centroidal Frame Orientation of Multi-body Floating Locomotion Systems
Du, W., Wang, Z., Moullet, E., & Amar, F. B. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9560918 · Cited by 4
Chin, C. W., Nakajima, M., Furuike, K., Kon, K., & Tanaka, M. (2022) · Advanced Robotics · doi:10.1080/01691864.2022.2138540 · Cited by 4
“Quadruped robots such as ANYmal [3] and LIO [4] can maneuver through various terrains by jumping and crawling.”
BackgroundAdaptive Planar Foot with Compliant Ankle Joint and Multi-modal Sensing for Quadruped Robots
Shi, G., Yao, C., Wang, W., Zhu, Z., & Jia, Z. (2022) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio55434.2022.10011981 · Cited by 4
“These legged robots are designed to operate autonomously in challenging environments, with examples such as ETH SpaceBok [2], ANYmal [3] and MIT Cheetah [4].”
BackgroundMuscular Damping Distribution Strategy for Bio-Inspired, Soft Motion Control at Variable Precision
Vonwirth, P., & Berns, K. (2023) · Sensors · doi:10.3390/s23052428 · Cited by 4
“Fankhauser, P.; Hutter, M. ANYmal: A Unique Quadruped Robot Conquering Harsh Environments.”
BackgroundZhang, C., & Yang, L. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10160522 · Cited by 4
On the Use of Torque Measurement in Centroidal State Estimation
Khorshidi, S., Gazar, A., Rotella, N., Naveau, M., Righetti, L., Bennewitz, M., & Khadiv, M. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10160823 · Cited by 4
“We argue that since most state-of-the-art quadrupedal [15], [16], [17] and bipedal [18], [19], [20] platforms have the capability to measure or estimate joint torque, this sensing modality can be used to perform centroidal state estimation regardless of contact force measurement capabilities.”
Cheng, H., Zheng, Z., Kumar, P., Chen, Y., Baek, J.-I., Kim, B. Y., Wagner, S., Verma, N., Sturm, J. C., & Chen, M. (2023) · IEEE ... Workshop on Control and Modeling for Power Electronics · doi:10.1109/compel52896.2023.10221022 · Cited by 4
A series elastic actuator using air and water and its force control
Choi, I., Park, C.-Y., Yang, G., Choi, H. R., Rodrigue, H., & Moon, H. (2023) · Journal of Mechanical Science and Technology · doi:10.1007/s12206-023-0835-5 · Cited by 4
The Klann mechanism: kinematic analysis and force balancing
Gallardo-Alvarado, J. (2024) · Journal of the Brazilian Society of Mechanical Sciences and Engineering · doi:10.1007/s40430-024-04864-4 · Cited by 4
“ANYmal [8, 9] is a quadruped robot developed to perform high-risk work for humans.”
Reese, R., Kovarovics, A., Charles, A., Koduru, C., Tanveer, M. H., & Voicu, R. (2024) · IEEE SoutheastCon · doi:10.1109/southeastcon52093.2024.10500066 · Cited by 4
“To expand the range of our data capture, we adopted the Unitree Go1 quadruped robot, which offers omnidirectional capabilities, allowing movement in any direction [7].”
MethodZheng, Y., Rao, S., & Gao, J. (2024) · Heliyon · doi:10.1016/j.heliyon.2024.e30302 · Cited by 4
Learning to Walk with Adaptive Feet
Scaldaferri, A., Angelini, F., & Garabini, M. (2024) · Robotics · doi:10.3390/robotics13080113 · Cited by 4
“Both of them use the ANYmal quadrupedal robot platform [36], equipped with a total of 12 actuated degrees of freedom, 3 per leg, namely, Hip Abduction–Adduction (HAA), Hip Flexion–Extension (HFE), and Knee Flexion–Extension (KFE).”
MethodTanaka, H., Matsumoto, O., Kawasetsu, T., & Hosoda, K. (2024) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ad839e · Cited by 4
“Many modern quadruped robots, such as ANYmal [1] and MIT cheetah [2], compute their gait by using model-based control [3, 4] or learning methods [5, 6].”
ARS: AI-Driven Recovery Controller for Quadruped Robot Using Single-Network Model
Kang, H., Lee, H., Park, J., Nam, S. W., Son, Y. W., Yi, B. S., Oh, J. Y., Song, J. H., Choi, S. Y., Kim, B., et al. (2024) · Biomimetics · doi:10.3390/biomimetics9120749 · Cited by 4
Wang, Z., Jia, W., Sun, Y., Bao, T., Ding, Z., & Chen, Q. (2025) · IEEE Transactions on Robotics · doi:10.1109/tro.2025.3543262 · Cited by 4
“ANYmal [1] employs a conventional mammal-like leg mechanism, wherein multiple actuators are sequentially connected in series with leg linkages, with each actuator directly driving its subsequent leg linkage.”
An energy-efficient obstacle-crossing control framework for quadruped robots
Han, J., Wan, B., Zheng, Y., & Song, Z. (2025) · Results in Engineering · doi:10.1016/j.rineng.2025.104661 · Cited by 4
Traversal Cost Modeling Based on Motion Characterization for Multi-legged Walking Robots
Prágr, M., Čížek, P., & Faigl, J. (2019) · European Conference on Mobile Robots · doi:10.1109/ecmr.2019.8870912 · Cited by 4
“This paper concerns the traversal cost modeling for multilegged walking robots that can traverse rough terrains either by planning the exact positions of their footholds [1]–[3], or by using the feedback from their legs [4], [5].”
BackgroundOptimal Center-of-Mass Pivot Effect of Spinal Motion in Feline Galloping
Kim, Y. K., & Yun, D. (2020) · Journal of Bionic Engineering · doi:10.1007/s42235-020-0082-8 · Cited by 4
“ANYmal, a quadruped walking robot using series electric actuators, was developed, and the proposed driver was used to increase mobility and dynamic characteristics([7]).”
MethodCacace, J., Mimmo, N., & Marconi, L. (2020) · Studies in computational intelligence · doi:10.1007/978-3-030-45956-7_8 · Cited by 4
CNN-based Foothold Selection for Mechanically Adaptive Soft Foot
Bednarek, J., Maalouf, N., Pollayil, M. J., Garabini, M., Catalano, M. G., Grioli, G., & Belter, D. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340910 · Cited by 4
“The ANYmal robot and the example scenario considered in this research are presented in Fig.”
MethodInfluentialQuadruped Robot Control Base on Adaptive Neuro-Fuzzy Inference System With V-REP Simulator
Wasista, S., Tjandrasa, H., & Wibisono, W. (2020) · International Conference on Information and Communications Technology (ICOIACT) · doi:10.1109/icoiact50329.2020.9332008 · Cited by 4
“The research of the quadruped robot for medium size [1] with good adaptability and motion flexibility has been the starting point for the researcher in recent years [2] [3] [4]and [5] [6].”
BackgroundŞen, M. A., & Kalyoncu, M. (2021) · Konya Journal of Engineering Sciences · doi:10.36306/konjes.803239 · Cited by 4
Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot
Sison, H., Ratsamee, P., Higashida, M., Mashita, T., Uranishi, Y., & Takemura, H. (2021) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48506.2021.9561838 · Cited by 4
“Most of them were classified based on the design of the mechanical structure such as bipedal [21], [22], tripod [23], quadrupedal [24] and hexapod [25], [26] robot.”
BackgroundWalking robots for rescue operations: overview and analysis of the existing models
Larkina, V. A. (2021) · Кибернетика и программирование · doi:10.25136/2644-5522.2021.1.35862 · Cited by 4
Numerical investigation and experimental verification of the proposed robot leg virtual model
Bakırcıoğlu, V., Şen, M. A., & Kalyoncu, M. (2022) · Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science · doi:10.1177/09544062221076769 · Cited by 4
“M12 1⁄4 m2l(2) 2COG þ m2 cosðq2Þl1l2COG þ Izz2 (6) M21 1⁄4 m2l(2) 2COG þ m2 cosðq2Þl1l2COG þ Izz2 (7) M12 1⁄4 m2l(2) 2COG þ Izz2 (8)”
Ren, L., Wang, C., Yang, Y. F., & Cao, Z. (2021) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio54168.2021.9739440 · Cited by 4
“Therefore, they are widely researched by many scholars [1-5].”
BackgroundA Bio-inspired SLAM System for a Legged Robot
Guo, J., Cheng, M., Ren, J., & Ren, Q. (2022) · IEEE Conference on Industrial Electronics and Applications (ICIEA) · doi:10.1109/iciea54703.2022.10006322 · Cited by 4
“In addition, the ANYmal [5] quadruped robot developed by ETH Zurich utilized RGBD camera or lidar to build a local map centered on the robot, so as to achieve the function of autonomously climbing steep stairs.”
MethodA method to benchmark the balance resilience of robots
Monteleone, S., Negrello, F., Grioli, G., Catalano, M. G., Bicchi, A., & Garabini, M. (2023) · Frontiers in Robotics and AI · doi:10.3389/frobt.2022.817870 · Cited by 4
“Moreover, today there exist several companies that develop and commercialize legged robots (e.g., agilityrobotics 2 , unitree 3 , ANYbotics 4 , SoftBank 5 ), with the remarkable recent acquisition of Boston Dynamics 6 by a large automotive corporation, promising to be the core of a novel industrial segment.”
BackgroundInfluentialAboufazeli, M., Filsoofi, A. S., Gurney, J., Meek, S. G., & Mathews, V. J. (2023) · Frontiers in Robotics and AI · doi:10.3389/frobt.2023.1127898 · Cited by 4
“Xin et al. (2020) optimized the torque trajectory of ANYmal in the presence of disturbances on an uphill ramp and on grounds with low friction.”
BackgroundInfluentialXiaotian-Hybrid: A Novel Wheeled-Quadruped Platform
Ren, T., Cao, Z., Chen, H., & Zhang, W. (2023) · International Conference on Mechatronics and Robotics Engineering (ICMRE) · doi:10.1109/icmre56789.2023.10106567 · Cited by 4
“ANYmal from ETH Robotic Systems Lab provides another motor arrangement solution [5].”
BackgroundGetting Air: Modelling and Control of a Hybrid Pneumatic-Electric Legged Robot
Mailer, C., Shield, S., Govender, R. A., & Patel, A. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10160737 · Cited by 4
Torque-Based Control of a Bio-Inspired Modular Climbing Robot
Prados, C., Hernando, M., Gambao, E., & Brunete, A. (2023) · Machines · doi:10.3390/machines11070757 · Cited by 4
Malarczyk, M., Kaczmarczyk, G., Szrek, J., & Kamiński, M. (2023) · Future Internet · doi:10.3390/fi15090303 · Cited by 4
Load Awareness: Sensorless Body Payload Sensing and Localization for Heavy Quadruped Robot
Liu, S., Zhou, S., Pan, Z. Y., Niu, Z., & Wang, R. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342158 · Cited by 4
“For lightweight and small quadrupedal platforms, the MIT Cheetah [4] and ETH ANYmal [5] are at the forefront of the industry in terms of structural design and control solutions.”
BackgroundTrafficability anticipation for quadruped robot in field operation
Wang, C., Zhang, R., Dong, W., Li, T., Jiang, L., Xu, W. M., Xu, P., Zhou, Y., & Zou, M. (2024) · Journal of Field Robotics · doi:10.1002/rob.22292 · Cited by 6
Safe Terrain Probing Method for Multi-legged Robots Operating on Brittle Surfaces
Tennakoon, E., Kottege, N., Peynot, T., & Roberts, J. M. (2020) · Springer proceedings in advanced robotics · doi:10.1007/978-3-030-33950-0_27 · Cited by 4
“There have been some significant advances in legged robot locomotion on difficult terrain as demonstrated with BigDog [3] using whole body control to react to external disturbances, ANYmal [4] using pose optimisation to adapt to changing environments and Weaver [5] using adaptive methods to reduce the cost of transpor…”
MethodBacaklı Robotların Yürüme Stratejileri Üzerine Bir Literatür Taraması
Bakırcıoğlu, V., & Kalyoncu, M. (2019) · Journal of Polytechnic · doi:10.2339/politeknik.573673 · Cited by 4
A ROS Gazebo plugin to simulate ARVA sensors
Cacace, J., Mimmo, N., & Marconi, L. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9196914 · Cited by 4
“To this end, several ground [1] [2] [3] and aerial [4] [5] robotic platforms characterized by different capabilities and equipment have been developed to support S&R operations in different scenarios.”
MethodCho, J., & Kong, K. (2020) · International Journal of Control Automation and Systems · doi:10.1007/s12555-019-0694-0 · Cited by 4
Quadrupedal Robotic Walking on Sloped Terrains via Exact Decomposition into Coupled Bipedal Robots
Ma, W.-L., Csomay-Shanklin, N., & Ames, A. D. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9341181 · Cited by 4
“Such reductions include the linear inverted pendulum model [9], the virtual-leg principle [10], massless leg assumption [6], planar model simplification [7], and neglecting the impacts for the gait design.”
BackgroundMethodAdaptive foot design for small quadruped robots
Eckert, P., & Ijspeert, A. J. (2016) · Infoscience (Ecole Polytechnique Fédérale de Lausanne) · Cited by 4
Variable Impedance Control for a Single Leg of a Quadruped Robot Based on Contact Force Estimation
Fan, Y., Pei, Z., & Tang, Z. (2024) · International Journal of Control Automation and Systems · doi:10.1007/s12555-022-0601-y · Cited by 3
“At present, quadruped robots have been applied in material transportation [2,3], emergency rescue [4], home services [5,6], military surveys [7], and engineering exploration [8], among other fields.”
Full Operating Condition Thigh Joint Motor Design Method for Quadruped Robot Under Trot Gait
Zeng, G., Yu, H., Wu, L., Yang, X., Lu, K., & Zhao, D. (2025) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2024.3524510 · Cited by 3
“Various forms of joint actuation have been employed in quadruped robots, including pneumatics [7], hydraulics [8], electric motors [9], [10], [11], and series-elastic actuators [12], [13].”
Crater Observing Bioinspired Rolling Articulator (COBRA)
Salagame, A., Noyes, H., Sihite, E. N., Kalantari, A., & Ramezani, A. (2025) · Advanced Intelligent Systems · doi:10.1002/aisy.202500352 · Cited by 3
“Legged systems, such as ETH Zurich’s Spacebok [40], JPL’s Llama [38], and ANYmal [39], offer another solution by allowing precise control of foot placement, enabling stable locomotion on loose surfaces.”
Seneviratne, G., Weerakoon, K., Elnoor, M., Rajgopal, V., Varatharajan, H., Jaffar, M. K. M., Pusey, J. L., & Manocha, D. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247772 · Cited by 3
“1: Comparison of CROSS-GAiT with state-of-the-art methods while navigating a Ghost Robotics Vision 60 through a complex scenario that contains a paved concrete path, thick bushes, grass, and pebbles: CROSS-GAiT continuously adapts gait parameters (step height and hip splay) based on multi-sensory…”
Design of Q8bot: A Miniature, Low-Cost, Dynamic Quadruped Built with Zero Wires
Wu, Y., & Hong, D. W. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246322 · Cited by 3
“There have been significant developments in quadruped robots due to their ability to navigate complex terrains and perform versatile tasks in various applications [1], [2], [3], [4].”
Yang, F., Frivik, P., Hoeller, D., Wang, C., Cadena, C., & Hutter, M. (2025) · The International Journal of Robotics Research · doi:10.1177/02783649251401926 · Cited by 7
“…environments, where the 3D structure and significant occlusions pose challenges for navigation without precise spatial memorization and registration capabilities, the navigation policy with SRU units demonstrate over double the performance in success rate compared to standard LSTM and GRU units.”
Self-citationVersatile artificial muscles by decoupling anisotropy
Weissman, E. M., Khatavkar, R., & Sun, J. (2026) · Proceedings of the National Academy of Sciences · doi:10.1073/pnas.2529273123 · Cited by 3
Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization
Łysakowski, M., Nowicki, M., Buchanan, R., Camurri, M., Fallon, M. F., & Walas, K. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9812296 · Cited by 3
Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg
Xu, Y., Luo, Z., Bai, X., Xie, H., Zhu, Y., Chen, S., & Shang, J. (2023) · Journal of Bionic Engineering · doi:10.1007/s42235-023-00412-3 · Cited by 3
“…the complexity of the leg mechanism, the designers developed the robotic leg base on the lower DOF serial mechanisms, namely the serial robotic leg, with reference to quadruped animals. such as the MIT cheetah series robots [14, 15], the ETH Anymal robot [16] and the TITAN series robots [17, 18].”
BackgroundDynamic Load Adaptive Control for Quadruped Robots Based on Model Prediction
Luo, Z., Li, J., & Liang, P. (2023) · IEEE International Conference on Mechatronics and Automation (ICMA) · doi:10.1109/icma57826.2023.10216162 · Cited by 3
“They can traverse complex terrains such as forests, stairs, mountains, and achieve environment perception and autonomous navigation in indoor offices, factories, and natural environments[1-3].”
BackgroundDevelopment of 3D printed mecanum mobile manipulator and task-space control
Kim, D., Lee, C., Hur, S., Yang, Y., & Choi, D. (2024) · Journal of Mechanical Science and Technology · doi:10.1007/s12206-024-0302-y · Cited by 3
“In addition to wheeled platforms, a great deal of research is being done on other various forms of mobile manipulators combined with four-legged robots, such as Spot [8] by Boston Dynamics and ANYmal [9] by ETH Zurich.”
Chun, L., & Lin, P. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3396113 · Cited by 3
“The pan-and-tile structure can be seen on quadrupeds, such as in the hip of the ANYmal [3] and the MIT Cheetah 3 [4].”
BackgroundModel Predictive Attitude Control of a Jumping-and-Flying Quadruped for Planetary Exploration
Westre, A., Olsen, J. A., & Alexis, K. (2024) · IEEE Aerospace Conference (AERO) · doi:10.1109/aero58975.2024.10521268 · Cited by 3
“While many quadruped robots like Boston Dynamics’ Spot [14] and ANYmal [15] exist in the market, they have not focused on the attitude control problem due to their design goals.”
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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