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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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Design of HyQ – a hydraulically and electrically actuated quadruped robot
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Contribution to the Synthesis of Biped Gait
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Design principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
Seok, S., Wang, A. Z., Chuah, M. Y., Otten, D. M., Lang, J. H., & Kim, S. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6631038 · Cited by 457
Design and Control Considerations for High-Performance Series Elastic Actuators
Paine, N., Oh, S., & Sentis, L. (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2270435 · Cited by 411
Valkyrie: NASA's First Bipedal Humanoid Robot
Radford, N. A., Strawser, P., Hambuchen, K., Mehling, J. S., Verdeyen, W. K., Donnan, A. S., Holley, J., Sanchez, J., Nguyen, V., Bridgwater, L., et al. (2015) · Journal of Field Robotics · doi:10.1002/rob.21560 · Cited by 300
State Estimation for Legged Robots: Consistent Fusion of Leg Kinematics and IMU
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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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Items 601–700 of 969
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Albracht, M., Kumar, S., Vyas, S., & Kirchner, F. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3445668 · Cited by 3
“There are sophisticated climbing [1] and brachiation robots [2], [3], hopping robots [4], [5], quadrupedal robots [6], [7], and bipedal humanoid robots [8], [9] that are capable of navigating harsh environments with high agility.”
BackgroundA Data-Driven Contact Estimation Method for Wheeled-Biped Robots
Gökbakan, Ü. B., Dümbgen, F., & Caron, S. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128254 · Cited by 3
“More recent humanoid [11] and quadruped [12], [13], [14] robots explored a different design path, using integrated joint torque sensors rather than dedicated contact sensors.”
Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots
Tako, T., Cisneros, R., Kaminaga, H., Kaneko, K., Murooka, M., Kumagai, I., Masuzawa, H., & Kakiuchi, Y. (2024) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids58906.2024.10769855 · Cited by 3
“This method is commonly used in quadrupedal robots [3] [4].”
Autonomous Inspection System for Underground Pits Using an Articulated Mobile Robot
Tanaka, M., Miyamoto, S., Takatsu, S., Kimura, Y., & Tozawa, H. (2024) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.2024.p1302 · Cited by 3
Design of a Robot System for Surveillance and Anomaly Detection in Industrial Environments
Chang, J., & Park, J.-H. (2024) · International Conference on Information and Communication Technology Convergence (ICTC) · doi:10.1109/ictc62082.2024.10827327 · Cited by 3
“This functionality makes SPOT an ideal candidate for monitoring industrial sites where manual inspections are either impractical or dangerous [15].”
InfluentialTanaka, Y., Zhu, A., Lin, R., Mehta, A. M., & Hong, D. W. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127886 · Cited by 3
“Single and multi-axis F/T sensors are common choices in legged robots [26], [27].”
The Analysis of Mechanical Structure of a Robotic Leg in Running for Impact Mitigation
Cho, J., & Kong, K. (2020) · Applied Sciences · doi:10.3390/app10041365 · Cited by 3
“Abbreviations The following abbreviations are used in this manuscript: MIT Massachusetts Institute of Technology UCLA University of California, Los Angeles ETH Eidgenössische Technische Hochschule Zürich KAIST Korea Advanced Institute of Science and Technology COM Center Of Mass CIE Contact Inertia Ellipse CIM Contact…”
MethodChen, J., Liu, C., Zhao, H., Zhu, Y., & Zhao, J. (2020) · Journal of Bionic Engineering · doi:10.1007/s42235-020-0041-4 · Cited by 3
Zhang, J., Shen, J., & Hong, D. W. (2020) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur49135.2020.9144804 · Cited by 3
“Several emerging quadruped robots, including MIT Cheetah [1] [2], ANYmal [3], SpotMini [4] and Ghost Vision 60 [5], have shown that they can move at a speed comparable to human walking or jogging and handle various terrains such as uneven surfaces and steps.”
BackgroundOnline Locomotion Planner For Wheeled Quadrupedal Robot Using Deviation Based Scheduler
Zhang, Z., Meng, F., Wang, L., Kang, R., Gu, S., Liu, B., Fan, X., Ming, A., & Huang, Q. (2021) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm52023.2021.9536161 · Cited by 3
“The most representative robots are BigDog[2], HyQ[3], ANYmal[4], MIT Cheetah 3[5], Ghost, Aliengo, etc.”
BackgroundTrotting and Pacing Locomotion of a Position-Controlled Quadruped Robot
Zhang, G., Li, Y., & Ma, S. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636006 · Cited by 3
“Another frequentlyused solution for joint torque control is to equip force sensing elements on the stiff actuators, such as the load cells on the cylinder rods of HyQ [16] and the elastic components in StarlETH [17] and ANYmal [18].”
BackgroundBio-inspired 2D Vertical Climbing with a Novel Tripedal Robot
Webster, C., Kong, F. H., & Fitch, R. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981088 · Cited by 3
“A large variety of animals have been used for inspiration, including dogs [5], cheetahs [6], geckos [7], ostriches [8], jerboas [9], and humans [10].”
BackgroundAccurate Joint Offset Calibration for Quadrupedal Robots
Zhao, C., Qian, L., Wang, S., Li, Q., Wang, H., & Luo, X. (2022) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio55434.2022.10011907 · Cited by 3
“INTRODUCTION Compared with wheeled vehicles, legged robotics have stronger trafficability to negotiate in irregular environments [1, 2].”
BackgroundBiswas, A., Chaubey, N. N., & Chaubey, N. K. (2023) · Advances in computational intelligence and robotics book series · doi:10.4018/978-1-6684-8171-4.ch006 · Cited by 3
Standalone brushless motor module optimized for legged robots
Wasilewski, P., & Grądzki, R. (2022) · Bulletin of the Polish Academy of Sciences Technical Sciences · doi:10.24425/bpasts.2022.141008 · Cited by 3
“Anybotic’s ANYdrive motor [9] – the actuator is based on a brushless motor integrated with a backlash-free gearbox and a power electronic module to control the motor.”
BackgroundResearch on Stability of Control for Quadruped Robot with Robust Leg Structure Design
Kang, H., An, J., Cha, H., Ahn, W., Song, H., & Lee, I. (2023) · The Journal of Korea Robotics Society · doi:10.7746/jkros.2023.18.2.172 · Cited by 3
The Design of a New 3D Print-in-place Soft Four-Legged Robots with Artificial Intelligence
Sekolah Menengah Jenis Kebangsaan Katholik, J. 1., Cern, Y. S., Ze, Y. S., & Sekolah Menengah Jenis Kebangsaan Katholik, J. 1. (2023) · Jurnal Kejuruteraan · doi:10.17576/jkukm-2023-35(3)-20 · Cited by 3
A Path Planning Method for Quadruped Robot Based on 3D Elevation Diagram
Wei, Z., Liu, S., & Song, R. (2024) · International Symposium on Autonomous Systems (ISAS) · doi:10.1109/isas61044.2024.10552499 · Cited by 3
“They utilized the ANYmal robot [8] to achieve real-time and efficient global path planning by constructing a posture graph planner.”
MethodDesign and Development of the Linear Actuator for Enhanced Agility in Humanoid Robot
Won, J., Kang, G., Jee, S., Ahn, M., & Han, J. (2024) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur61395.2024.10597459 · Cited by 3
Huang, P.-C., Chang, I.-C., Yu, W.-S., & Lin, P. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610114 · Cited by 3
“In contrast, the estimation of the body state of the legged robots [1] is a challenge not only because the intermittent contact status of all legs on uneven terrain is hard to obtain but also because the kinematics and dynamics of the legged robots are much more complex than those of the wheeled…”
BackgroundImproving Legged Robot Locomotion by Quantifying Morphological Computation
Chandiramani, V., Häuser, H., & Conn, A. T. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801821 · Cited by 3
“Consequently, MC has played an important role in enhancing locomotion performance and simplifying control [25] [11].”
Robust and Efficient Phase Estimation in Legged Robots via Signal Imaging and Deep Neural Networks
Yazdipaz, K., Kohli, N., Golestaneh, S., & Shahbazi, M. (2025) · IEEE Access · doi:10.1109/access.2025.3549165 · Cited by 3
“The same method was applied to the ANYmal quadruped robot [4] with the addition of a probabilistic slip detector to enhance the robot’s stability on slippery surfaces [15].”
Direction Finding for Software Defined Radios with Switched Uniform Circular Arrays
Werner, L., Gardill, M., & Hutter, M. (2025) · IEEE MTT-S International Microwave Symposium digest · doi:10.1109/ims40360.2025.11103798 · Cited by 3
“Empirical investigations are executed utilizing the ANYmal quadrupedal robot [15] in indoor and dense urban outdoor settings.”
Self-citationSALON: Self-supervised Adaptive Learning for Off-road Navigation
Sivaprakasam, M., Triest, S., Ho, C., Aich, S., Lew, J., Adu, I., Wang, W., & Scherer, S. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128268 · Cited by 3
“3) ANYmal Quadruped: We also test our method on an ANYmal quadruped robot developed by ANYbotics [40], using data provided from Wild Visual Navigation (WVN) [15].”
A Practical Method to Jump over Obstacles for Quadruped Robots
Yu, T., Liu, H., Liang, B., & Zhu, X. (2018) · International Conference on Automation, Control and Robots (ICACR) · doi:10.1145/3293688.3293689 · Cited by 3
“ANYmal - a highly mobile and dynamic quadrupedal robot.”
Towards Generating Simulated Walking Motion Using Position Based Deep Reinforcement Learning
Jones, W., Gangapurwala, S., Havoutis, I., & Yoshida, K. (2019) · Lecture notes in computer science · doi:10.1007/978-3-030-25332-5_42 · Cited by 3
Bio-Inspired Imprecise Impedance Control of Muscle-Driven Robotic Limbs
Vonwirth, P., & Berns, K. (2022) · Lecture notes in networks and systems · doi:10.1007/978-3-031-15226-9_7 · Cited by 3
Amri, W. Z. E., Hermes, L., & Schilling, M. (2023) · Lecture notes in computer science · doi:10.1007/978-3-031-25891-6_20 · Cited by 3
Design methodology of linkage morphology for high speed locomotion
Brown, J. M., Pusey, J. L., & Clark, J. E. (2017) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2017.8324504 · Cited by 3
“The kinematics examined here will be simplifications of both the Minitaur design (ignoring the toe) and the Super Mini Cheetah design (ignoring the offset between the motors).”
BackgroundMethodInfluentialPinbot: A Walking Robot with Locking Pin Arrays for Passive Adaptability to Rough Terrains
Noh, S.-H., & Dollar, A. M. (2020) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra40945.2020.9197342 · Cited by 3
“Some recent legged robots such as the MIT Cheetah 3 [1] and ANYmal [2] feature the prominent universal-revolute leg topology.”
BackgroundZhang, G., Ma, S., & Li, Y. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340785 · Cited by 3
“StarlETH [32] and its successor ANYmal [33] provide examples for this case.”
Development, Estimation and Control of a Bio-Inspired Quadruped Robotic Leg
El-Dalatony, A. M., Attia, T., Ragheb, H., & Sharaf, A. Μ. (2022) · doi:10.1109/iceeng49683.2022.9782054 · Cited by 3
Gait Synthesis of a Home Quadruped Robot
Dobrynin, D. A. (2022) · Lecture notes in computer science · doi:10.1007/978-3-031-23609-9_16 · Cited by 3
An Experimental Study of a Bluetooth Communication System for Robot Motion Control
Dalgic, O., Tekin, A., & Uğurlu, B. (2019) · Annual Conference of the IEEE Industrial Electronics Society (IECON) · doi:10.1109/iecon.2019.8927130 · Cited by 3
“There are similar standalone modules in the literature, however they use cable dependent data transfer interfaces such as EtherCAT and CAN bus [2], [20].”
MethodVibration‐based motion generation without any sensor or microprocessor
MASUDA, Y., Minami, Y., & Ishikawa, M. (2020) · Asian Journal of Control · doi:10.1002/asjc.2374 · Cited by 3
“For example, in legged locomotion tasks [2,3], the ground contact condition between the robot leg and the environment is rapidly changed by friction, slip, and discontinuous state switching.”
BackgroundLim, H., Yu, B., Kim, Y., Byun, J., Kwon, S., Park, H.-W., & Myung, H. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2111.15164 · Cited by 4
“The average movement of point features and corresponding eigenvalues for ANYmal moving straight with Champ and NMPC are shown in Fig.”
MethodWhen monkeys meet an ANYmal robot in the wildPreprint
Canteloup, C., Lee, J., Zimmermann, S., Alvino, M., Montenegro, M., Hutter, M., & van de Waal, E. (2024) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2024.08.13.607714 · Cited by 3
Self-citationVENRiR: Vision Enhance for Navigating 4-legged Robot in Rough Terrain
Pudchuen, N., Deelertpaiboon, C., Jitviriya, W., & Phunopas, A. (2020) · Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) · doi:10.23919/sice48898.2020.9240424 · Cited by 2
“At present, the state-of-the-art legged robot have achieved remarkable capabilities such as high-speed locomotion [2-3], responsive maneuver [4-5], or traversing challenging terrain with dynamic gaits [6-11].”
BackgroundDesign and verification of a parallel elastic robotic leg
Tanfener, E., Karagöz, O. K., Candan, S. Ş., Turgut, A. E., Yazıcıoğlu, Y., Ankaralı, M. M., & Saranlı, U. (2024) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/ad2375 · Cited by 2
“…platforms have utilized either high-torque driving units that provide lossless transmission enabling the implementation of virtual impedance control [1–3], or passive elastic elements that provide greater energy efficiency at the cost of introduced control and engineering difficulties [4, 5].”
BackgroundNeural dynamics of robust legged robots
Rush, E. R., Heckman, C., Jayaram, K., & Humbert, J. S. (2024) · Frontiers in Robotics and AI · doi:10.3389/frobt.2024.1324404 · Cited by 2
Impact Robustness Versus Torque Bandwidth: A Design Guide for Differential Elastic Actuators
Shu, A., Raschel, C., Keppler, M., Wedler, A., & Görner, M. (2024) · IEEE Transactions on Robotics · doi:10.1109/tro.2024.3422049 · Cited by 2
“Due to their robust mechanical structure, torque-controlled elastic actuators have become a favorable choice for such applications [1], [2], [3], [4], [5].”
BackgroundFlyingDog: design and implementation of a quadruped robot with flight capability
Hu, B., Zhou, H., Gui, Y., Zhai, P., Zhang, L., & Dong, Z. (2024) · Industrial Robot the international journal of robotics research and application · doi:10.1108/ir-09-2024-0455 · Cited by 2
Hafner, N., Liu, C., Ishi, C. T., & Ishiguro, H. (2025) · Advanced Robotics · doi:10.1080/01691864.2025.2478922 · Cited by 2
“However a major difference between most modern quadrupedal robots (Unitree A1 [1], Spot [2], ANYMal [3] etc.) and their biological cousins is that biological quadrupeds have an active spine which plays a large role in locomotion [4–6].”
Torque Reduction of 1-DOF Transformable Wheel With Passive Springs
Lee, J., Park, J., & Kim, Y. (2025) · IEEE Access · doi:10.1109/access.2025.3594567 · Cited by 2
“While such SEA/PEA approaches can yield large torque reductions in highly dynamic scenarios, they often demand precise sensing and actuation hardware along with advanced control algorithms [27].”
Olsen, J. A., Malczyk, G., & Alexis, K. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127737 · Cited by 5
“Modern legged systems utilize legs with various designs with the most common being the open kinematic chain found in ANYbotics ANYmal [25], Unitree A1 [26], and Boston Dynamics Spot [27].”
Ye, K., & Karydis, K. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128827 · Cited by 2
“The main body’s rigidly fixed morphology affords physically-induced simplifications that enable online model-based control strategies [21]–[23] to stabilize dynamic gaits.”
Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
Crotti, M., Rossini, L., Hodossy, B. K., Pace, A., Grioli, G., Bicchi, A., & Catalano, M. G. (2025) · IEEE Access · doi:10.1109/access.2025.3608584 · Cited by 2
“Flat-footed (e.g., ATLAS, Digit, HRP-4 [1], G1, Nao, Talos), and passive ball-shaped (e.g., ANYmal [2], HyQ [3], Spot) robots often struggle to traverse irregular terrains, limiting their applications in unstructured environments.”
Energy-Aware Planning for Delivery Tasks Executed by Legged Robots
Chen, S., Chen, Y., Wei, Z., Nguyen, Q., & Gupta, S. K. (2025) · IEEE International Conference on Automation Science and Engineering (CASE) · doi:10.1109/case58245.2025.11164088 · Cited by 2
Compact and Optimized Optical Six-Axis Force/Torque Sensor for Legged Robots
Kim, H., Ham, B.-I., Choi, K. H., & Kim, K.-S. (2025) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2025.3618428 · Cited by 2
“R ECENT advancements in robotics have garnered signifi-cant attention in legged robots, including platforms, such as ANYmal , Mini Cheetah , Hound , and Raibo [1], [2], [3], [4], [5], [6], [7], [8].”
Kiyoshi, I. R. I. E., Yoshida, T., Matsuzawa, T., Suzuki, T., Hara, Y., & Tomono, M. (2025) · Advanced Robotics · doi:10.1080/01691864.2025.2561643 · Cited by 2
“Quadruped platforms such as Boston Dynamics’ Spot, ETH’s ANYmal [9], and MIT Cheetah 3 [10] have demonstrated impressive performance.”
VOCALoco: Viability-Optimized Cost-Aware Adaptive Locomotion
Wu, S., Danesh, M. H., Li, S., Yurchyk, H., Abyaneh, A., Houssaini, A. E., Meger, D., & Lin, H.-C. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3632604 · Cited by 3
“We validate VOCALoco on real hardware using ANYbotics ANYmal-D [15].”
Research on the Design and Control Method of Robotic Flexible Magneto-Rheological Actuator
Shi, R., Jian, S., Chen, G., & Pengpeng, Y. (2025) · Sensors · doi:10.3390/s25226921 · Cited by 2
“A common strategy for introducing passive compliance is the use of series elastic actuators (SEA), which integrate a fixed elastic element in series with the output [6,7].”
KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing
Yoneda, K., Kawaharazuka, K., Suzuki, T., Hattori, T., & Okada, K. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11245909 · Cited by 5
“In recent years, the development of quadruped robots has been actively conducted [1]–[3].”
Ma, Y., Liu, Y., Qu, K., & Hutter, M. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246279 · Cited by 6
“The policy is deployed on an ANYmal robot [30] equipped with a Duatic DynaArm and a Robotiq 2f140 gripper.”
Self-citationVPIES: Variational Privileged Information Encoder as Scaffold for Legged Locomotion Learning
Ma, Y., Yu, H., Guo, K., Xing, B., Ren, X., & Zheng, D. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3666686 · Cited by 2
“Legged robots can mimic animal and human locomotion and traverse diverse terrains, including uneven ground and stairs [2], [3].”
Legged Robot Driven by Soft Pneumatic Actuators
Takuma, T. (2019) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.37.144 · Cited by 2
Reuleaux Triangle–Based Two Degrees of Freedom Bipedal Robot
Yang, J., Saab, W., Liu, Y., & Ben‐Tzvi, P. (2021) · Robotics · doi:10.3390/robotics10040114 · Cited by 2
“Leg designs with more active degrees of freedom (DOF) help to enhance the mobility and dexterity of legged robots [1], such as the ANYmal quadruped robot [2], the MIT Cheetah series quadruped robots [3,4], the Adaptive Suspension Vehicle [5], the ATRIAS robot [6], and the HyQ quadruped robot [7].”
BackgroundLiu, H., Liu, B., Han, Z., Qin, Y., Ren, X., & Han, L. (2021) · Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering · doi:10.1177/09544070211058382 · Cited by 2
Improvement of the modeling of a hydraulic drive for exoskeleton application based on measurements
Holl, E. (2022) · Materials Today Proceedings · doi:10.1016/j.matpr.2022.02.565 · Cited by 2
Withdrawn: Hybrid UGV and Drone System for Mine Rescue Assistance
Racette, J., Lotero, S., Gordon, J., Dinelli, C., Ebrahimkhanlou, A., Shao, S., Roghanchi, P., & Hassanalian, M. (2022) · AIAA AVIATION Forum · doi:10.2514/6.2022-3287 · Cited by 2
Remote VDB-Mapping: A Level-Based Data Reduction Framework for Distributed Mapping
Besselmann, M. G., Roennau, A., & Dillmann, R. (2022) · Lecture notes in networks and systems · doi:10.1007/978-3-031-15226-9_42 · Cited by 2
Effective landing strategy of robot leg using hybrid force/position control
Kim, K., & Kim, J.-Y. (2022) · Intelligent Service Robotics · doi:10.1007/s11370-022-00441-7 · Cited by 2
“Legged locomotion has the advantage of being able to move freely about human-made infrastructures or on uneven terrain [1].”
BackgroundMethodWhere am I Walking? - MultiNet Based Proprioceptive Terrain Classification for Legged Robots
Puck, L., Krause, M., Schnell, T., Buettner, T., Roennau, A., & Dillmann, R. (2023) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur57808.2023.10202428 · Cited by 2
“The data was collected on the quadruped ANYmal [6].”
MethodVDB-Submapping: Efficient Handling of Retroactive Pose Changes During Large-Scale Volumetric Mapping
Besselmann, M. G., Roennau, A., & Dillmann, R. (2023) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur57808.2023.10202311 · Cited by 2
“In particular, unmanned aerial vehicles (UAVs) and walking robots used for search and rescue missions[6][7] require a comprehensive three-dimensional representation of their environment.”
BackgroundResearch on quadruped robots: Review and Prospect
Zhang, J., Dong, Z. X., & Guo, Z. (2023) · International Conference on Information Technology and Computer Communications (ITCC) · doi:10.1145/3606843.3606850 · Cited by 2
CPG-Based Locomotion Control of a Quadruped Robot with an Active Spine
Lian, Y., Wang, T., Ingham, J., Post, M., & Tyrrell, A. M. (2023) · Lecture notes in computer science · doi:10.1007/978-3-031-43360-3_15 · Cited by 2
Sison, H., Ratsamee, P., Higashida, M., Uranishi, Y., & Takemura, H. (2023) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.2023.p1227 · Cited by 2
Jeon, J., Jeong, M., & Myung, H. (2023) · International Conference on Control, Automation and Systems (ICCAS) · doi:10.23919/iccas59377.2023.10317046 · Cited by 2
“This Therefore, the valid target body velocity consists of the linear body velocities in the x and y-axes with the angular body velocity, which represents yaw rotation, with respect to the robot coordinate system. is because single PID gains are difficult to generalize to various environments.”
BackgroundMethodA Hierarchical Reinforcement Learning Approach for Adaptive Quadruped Locomotion of a Rat Robot
Zhang, Z., Huang, Y., Zhao, Z., Bing, Z., Knoll, A., & Huang, K. (2023) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio58561.2023.10354896 · Cited by 2
“Full-sized robots like ANYmal [10] utilize machine learning technology to build an altitude map of the surrounding environment by mining data from tactile sensors.”
MethodPerception-Driven Learning of High-Dynamic Jumping Motions for Single-Legged Robots
Sun, N., Meng, F., Gu, S., Liu, B., Chen, X., Yu, Z., & Huang, Q. (2024) · Journal of Bionic Engineering · doi:10.1007/s42235-024-00541-3 · Cited by 2
Liao, L., Li, B., Zhang, D., Gao, L., Ngwa, M., & Du, J. (2023) · International Conference on Fluid Power and Mechatronics · doi:10.1109/fpm57590.2023.10565475 · Cited by 2
“Compared with wheeled and tracked robots, legged robots have flexible mobility, powerful obstacle avoidance ability, and excellent terrain adaptability [1], thus becoming a hot research topic in recent years [2-5].”
BackgroundA Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation
Agrawal, V., & Dellaert, F. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611072 · Cited by 2
“This is used to verify whether our metric accurately captures the performance gap between these two filtering based state estimators when run on the Anybotics ANYmal C quadruped [48].”
MethodEveryday finger: a robotic finger that meets the needs of everyday interactive manipulation
Ornelas, R. C., Cantú, T., Sperandio, I., Slocum, A. H., & Agrawal, P. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611452 · Cited by 2
“Series Elastic Actuators (SEAs) like those in the ANYmal robot dog [15] have also enabled stable contact interactions with the environment, albeit with lower bandwidth.”
BackgroundPose Estimation Algorithm for Quadruped Robots Based on Multi-Sensor Fusion
Pan, C., Hao, R., Yu, J., & Zhang, L. (2024) · International Symposium on Intelligent Robotics and Systems (ISoIRS) · doi:10.1109/isoirs63136.2024.00009 · Cited by 2
“The ANYmal quadruped robot, developed by ETH Zurich, uses a combination of cameras, IMU, and forward kinematics model and can significantly reduce position errors using factor graph optimization techniques [19], [20].”
MethodAn Elucidative Analysis of Quadruped Robot’s Locomotion and Design
Jaiswal, A. C., Sinha, S., & Makkar, P. (2024) · Lecture notes in electrical engineering · doi:10.1007/978-981-97-4650-7_17 · Cited by 2
Mechanical Design of a Compliant Spine using Series Elastic Actuator for Quadruped Robot
Su, J., Liu, S., Lu, C., Wang, Z., Yan, T., Su, B., & Guo, Z. (2024) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm62033.2024.10715868 · Cited by 2
“It has excellent mobility and dynamic movement capabilities and can achieve a battery life of more than 2 hours [3].”
BackgroundYang, H., Qin, Y., Bai, W., Ren, X., Nie, S., & Xu, B. (2024) · CAA International Conference on Vehicular Control and Intelligence (CVCI) · doi:10.1109/cvci63518.2024.10830023 · Cited by 2
A Robust Multi-Sensor Fusion Localization for Small-Scale Biomimetic Robots
Li, S., Zhang, Y., Chen, Z., Jiang, D., Yu, Z., & Shi, Q. (2024) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio64047.2024.10907588 · Cited by 2
“The spot robot [21], MIT Cheetah2 [22], and ANYmal [23] all used a combination of camera sets or LiDAR for localization.”
Whole-body stability control of foot walking for wheel-legged robot on unstructured terrain
Chen, Z., Huang, J., Wang, S., Wang, J., & Xu, Y. (2025) · Robotic Intelligence and Automation · doi:10.1108/ria-10-2024-0209 · Cited by 2
Remote Gait Computation and Wireless Data Collection on the Q8bot Miniature Quadruped
Wu, Y., & Hong, D. W. (2025) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur65550.2025.11078123 · Cited by 2
“Recent advancements in quadruped research include complete builds of high-performance, research-oriented robotic systems [2], [3], [4], as well as various control methods ranging from model-predictive control [5] to reinforcement learning [6], [7].”
Bipedal Walking with Continuously Compliant Robotic Legs
Bendfeld, R., & Remy, C. D. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127488 · Cited by 2
“Examples of electrically driven legged robotic systems that employ SEA include Anybotics’ ANYmal [12], Agility Robotics’ Digit, the emPower bionic ankle, and RAM one [13].”
LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation
Jiao, J.-H., He, J., Liu, C., Aegidius, S., Hu, X.-C., Braud, T., & Kanoulas, D. (2024) · IEEE International Conference on Robotics and Automation · doi:10.1109/icra55743.2025.11128511 · Cited by 14
“Real-world VNav experiments are conducted on ANYmal-D [70] quadruped robots, equipped with a front-view ZED 2 stereo camera ( 540 × 960 resolution, generating reliable depth up to 15 m ), an Intel NUC computer (for planning), and a NVIDIA Jetson Orin (for visual processing).”
Design and Implementation of Jumping Robot with Multi-Springs Based on the Coupling of Polyarticular
Wang, L., Meng, F., Liu, H., Fan, X., Sato, R., Ming, A., & Huang, Q. (2018) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2018.8664808 · Cited by 2
“StarlETH [10] and ANYmal [11] driven by series elastic actuators can achieve complaint control and stably walking in complex environment, and a high speed motion characteristics.”
BackgroundComparison of Hybrid and Parallel Architectures for Two-Degrees-of-Freedom Planar Robot Legs
Sagi, A., & Bandyopadhyay, S. (2018) · Lecture notes in mechanical engineering · doi:10.1007/978-981-10-8597-0_8 · Cited by 2
A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism
Yang, J., Saab, W., & Ben‐Tzvi, P. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967952 · Cited by 2
“Such examples include, but are not limited to, the ANYmal quadruped [3], and Adaptive Suspension Vehicle [4].”
BackgroundGait Phase Optimization of Swing Foot for a Quadruped Robot
Wu, G., Huang, R., Hao, J., Cheng, H., & Wang, S. (2019) · Communications in computer and information science · doi:10.1007/978-981-13-7983-3_36 · Cited by 2
PI Controller-Based Walking Mechanism of Quadruped Robot on a Side Ramp Path
Singh, R., & Bera, T. K. (2020) · IEEE International Conference on Industrial and Information Systems (ICIIS) · doi:10.1109/iciis51140.2020.9342685 · Cited by 2
Predictive Maintenance Efficiency Study Using Wireless Sensor Clusters (WSCs)
Szabo, I., Tulbure, A. A., Fleseriu, D., & Tulbure, A. A. (2022) · IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR) · doi:10.1109/aqtr55203.2022.9802022 · Cited by 2
“time series cognitive analysis [8], modeling [9], robotics [10], cognitive systems [11] etc.”
BackgroundAdaptation of Walking-Patterns to Damage for the Six-Legged Walking Robot LAURON V
Plasberg, C., Roennau, A., & Dillmann, R. (2022) · IEEE Transactions on Medical Robotics and Bionics · doi:10.1109/tmrb.2022.3185425 · Cited by 2
Robot Obstacle Avoidance Controller Based on Deep Reinforcement Learning
Tang, Y., Chen, Q., & Wei, Y. (2022) · Journal of Sensors · doi:10.1155/2022/4194747 · Cited by 3
“Ran-domization in Car2D could enhance the robustness of the training object, narrowing the gap between the simulation environment and the real environment, as has been demonstrated by studies [10, 20, 21].”
ResultEnsemble Based Anomaly Detection for Legged Robots to Explore Unknown Environments
Puck, L., Schik, M., Schnell, T., Buettner, T., Roennau, A., & Dillmann, R. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981446 · Cited by 2
“In this research an ANYmal C [2] robot is used in different real world scenarios.”
BackgroundMethodInfluentialAchieving Accurate Trajectory Control While Training Legged Robots Using Machine Learning
Biswas, A., Chaubey, N. N., & Chaubey, N. K. (2023) · Communications in computer and information science · doi:10.1007/978-3-031-40564-8_2 · Cited by 2
Modeling and Workspace Characterization of Continuously Compliant Robotic Legs
Bendfeld, R., & Remy, C. D. (2023) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros55552.2023.10342327 · Cited by 2
“Examples of electrically driven legged robots that employ SEA include Anybotics’ ANYmal [3], Agility Robotics’ Digit, the emPOWER bionic ankle and RAM one [4], [5].”
MethodEvolving Dynamic Locomotion Policies in Minutes
Chatzilygeroudis, K. I., Tsakonas, C. G., & Vrahatis, M. N. (2023) · International Conference on Information, Intelligence, Systems & Applications (IISA) · doi:10.1109/iisa59645.2023.10345937 · Cited by 2
“…the above questions and showcase the ability of EvoLoco to operate with any robot, we devise the following scenarios: a) A scenario where an ANYmal quadruped robot [4] learns how to walk in every direction; b) A scenario where an ANYmal quadruped robot [4] learns how to jump in every direction.”
BackgroundMethodLeg Mechanism of a Quadruped Wheeled Robot with a 4-DoF Spherical Parallel Link Mechanism
Suzuki, T., Ota, H., Takenaka, H., Tanaka, T., ISHIZAWA, Y., & Hashimoto, K. (2024) · Lecture notes in networks and systems · doi:10.1007/978-3-031-47272-5_2 · Cited by 2
Adaptive Gait Acquisition through Learning Dynamic Stimulus Instinct of Bipedal Robot
Zhang, Y., Chen, X., Meng, F., Yu, Z., Du, Y., Zhou, Z., & Gao, J. (2024) · Biomimetics · doi:10.3390/biomimetics9060310 · Cited by 2
“The quadruped robot ANYmal [28] utilizes four identical foot trajectory generators (FTGs) [29] together with a neural network policy to learn the dynamic gait to traverse different terrains [25], demonstrating that artificial gaits based on inverse kinematics can assist the quadruped policy in…”
BackgroundFoot-end Trajectory Analysis Based on a Novel Reconfigurable Leg Mechanism
Liang, H., Wang, S., Wang, G., & Pang, M. (2023) · International Conference on Telecommunications, Electronics and Informatics (ICTEI) · doi:10.1109/ictei60496.2023.00080 · Cited by 2
“And such a kind of leg mechanism used is composed of the femur, tibia, tarsus, and metatarsus in series, with rich space in foot-end motion [3], e.g., Bigdog [4], ANYmal [5], and Cheetah [6].”
MethodAchieving Velocity Tracking Despite Model Uncertainty for a Quadruped Robot with a PD-ILC Controller
Weiß, M., Stirling, A., Pawluchin, A., Lehmann, D., Hahnemann, Y., Seel, T., & Boblan, I. W. (2024) · European Control Conference (ECC) · doi:10.23919/ecc64448.2024.10590932 · Cited by 2
“This burgeoning field of robotics holds immense promise for applications ranging from search and rescue missions to planetary exploration and human assistance [2]– [5].”
BackgroundHyperSurf: Quadruped Robot Leg Capable of Surface Recognition with GRU and Real-to-Sim Transferring
Satsevich, S., Savotin, Y., Belov, D., Pestova, E., Erhov, A., Khabibullin, B., Bazhenov, A., Kovalev, V., Fedoseev, A., & Tsetserukou, D. (2024) · Conference proceedings/Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics · doi:10.1109/smc54092.2024.10831295 · Cited by 2
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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