The DOI matches its Crossref record; 28 of the 28 references it cites were found in a registry or an index.
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.
Overview
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
In the citing paper
“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]
Citations
Cites
Pratt, G. A., & Williamson, M. M. (2002) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.1995.525827 · Cited by 2,209
BigDog, the Rough-Terrain Quadruped Robot
Raibert, M. H., Blankespoor, K., Nelson, G. M., & Playter, R. R. (2008) · IFAC Proceedings Volumes · doi:10.3182/20080706-5-kr-1001.01833 · Cited by 1,529
Design of HyQ – a hydraulically and electrically actuated quadruped robot
Semini, C., Tsagarakis, N. G., Guglielmino, E., Focchi, M., Cannella, F., & Caldwell, D. G. (2011) · Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering · doi:10.1177/0959651811402275 · Cited by 630
Contribution to the Synthesis of Biped Gait
VUKOBRATOVIC, M. K., & Juričić, D. (1969) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.1969.4502596 · Cited by 611
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
Self-citation
Flagged first, then by citations
Research works printed but not linked: 2
- boaventura, 2013, Hydraulic Compliance Control of the Quadruped Robot HyQ
- 0, ATLAS Robot, Boston Dynamics
Cited by
Sorted by citations
Items 701–800 of 969
Energy efficiency optimization of an interactive quadruped robot
Fan, F., Zhang, J., Meng, Y., Deng, F., Qian, H., & Xu, Y. (2017) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio.2017.8324678 · Cited by 2
Bound Controller for a Quadruped Robot using Pre-Fitting Deep Reinforcement Learning.Preprint
Li, A., Wang, Z., Wu, J., & Zhu, Q. (2020) · arXiv (Cornell University) · Cited by 2
Balancing Control and Pose Optimization for Wheel-legged Robots Navigating Uneven Terrains.Preprint
Li, J., Ma, J., & Nguyen, Q. (2021) · arXiv (Cornell University) · Cited by 2
Force control benchmarking of hydraulic and electrical actuation systems applied to robotics
Vergamini, E. G. (2024) · doi:10.11606/d.18.2024.tde-11062024-113219 · Cited by 2
Solving Footstep Planning as a Feasibility Problem Using L1-Norm Minimization
Song, D., Fernbach, P., Flayols, T., Prete, A. D., Mansard, N., Tonneau, S., & Kim, Y. J. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3088797 · Cited by 1
“We tested our approach in simulation in a variety of environments for the humanoid Talos [35] and the quadruped ANYmal [36].”
MethodFirst Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion
Mitchell, A. L., Engelcke, M., Jones, Ō. P., Surovik, D. A., Gangapurwala, S., Melon, O., Havoutis, I., & Posner, I. (2020) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros45743.2020.9340737 · Cited by 1
Towards Commercialization of Robots based on Mechanical Contact
Kakogawa, A., Kawamura, S., Takesue, N., Tokunaga, S., FUKASAWA, T., YAMAMOTO, A., Tokuda, T., & Kurimoto, N. (2021) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.39.125 · Cited by 1
Chen, G., Ran, J., Bai, C., Jie, P., & Lou, Y. (2021) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros51168.2021.9636256 · Cited by 1
“By introducing the series elastic actuators (SEAs), each joint of the ANYmal robot [4] reaches a maximal torque of 40Nm and characteristically has good impact mitigation properties.”
MethodTsunoda, S., Nabae, H., Suzumori, K., & Endo, G. (2022) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii52469.2022.9708790 · Cited by 1
“Examples of quadruped robots of the mammal-type include Spot[1], MIT Cheetah 3[2], Mini Cheetah[3], and ANYmal[4].”
BackgroundOptimization-based hexapod robot locomotion generation
Liu, F., He, Z., Qiao, Y., Liu, X., Li, X., Wang, W., Su, B., & Dang, R. (2022) · Industrial Robot the international journal of robotics research and application · doi:10.1108/ir-02-2022-0038 · Cited by 1
Kim, Y., Choi, S.-H., Song, J., & Yun, D. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161131 · Cited by 1
“4 m/kg [4], which is a large value compared to other quadrupedal robots [2], [8], [9].”
BackgroundMethodInfluentialDistributed Control of Multiple Quadruped Robots Based on Leader-Following Consensus Strategy
Ren, Y. T., Sun, H., Wang, L., & Liu, S. (2024) · IEEE Data Driven Control and Learning Systems Conference (DDCLS) · doi:10.1109/ddcls61622.2024.10606886 · Cited by 1
“…quadruped robots has inspired a significant amount of development work in the field, exemplified by commercial robotic entities like Boston Dynamics' Spot and Unitree's Go1, as well as contributions from the robotics research community, including the MIT Cheetah series[1-4], ANYmal[5], and HyQ[6].”
BackgroundZhang, W., & Wang, K. (2024) · International Conference on Advanced Robotics and Intelligent Systems (ARIS) · doi:10.1109/aris62416.2024.10680005 · Cited by 1
“Therefore, combining wheeled and legged locomotion into one mechanism would improve both flat and uneven terrain traversal [1], [2], [3].”
MethodAutonomous Locomotion of a Rat Robot Based on Model-free Reinforcement Learning
Zhang, Z., Huang, Y., Zhao, Z., Bing, Z., Cai, C., Knoll, A., & Huang, K. (2024) · International Conference on Advanced Robotics and Mechatronics (ICARM) · doi:10.1109/icarm62033.2024.10715976 · Cited by 1
“However, most approaches are designed for full-sized robots such as the MIT Cheetah [16] and ANYmal [17].”
Mechanical Design of an Agile Quadruped Robot
Bianco, E. D., Kashiri, N., Roveri, M., & Tsagarakis, N. G. (2024) · Springer proceedings in advanced robotics · doi:10.1007/978-3-031-76424-0_11 · Cited by 1
Efficient CoM Motion Planning for Quadruped Robots’ Quasi-Static Walking
Nikolić, M. N., Mitić, V., Savić, S., & Zhang, T. (2025) · Actuators · doi:10.3390/act14050202 · Cited by 1
Sirianni, D., Ohno, T., & Mirić, S. (2025) · IEEE Open Journal of Industry Applications · doi:10.1109/ojia.2025.3585676 · Cited by 1
“In addition, power is distributed from a battery, typically located at the center of the robot’s body, to each joint [2].”
Control System for Center of Mass Position and Angle in Quadruped Robots
Mendoza, E., Saeteros, J. M., Hurel, J., Medrano, J., Moon, H., Quero, L. C., Yumbla, E. Q., & Yumbla, F. (2025) · International Conference on Ubiquitous Robots (UR) · doi:10.1109/ur65550.2025.11078136 · Cited by 1
“ANYmal, a quadruped designed for industrial inspection, combined mobility and perception systems to navigate hazardous environments [10].”
Joints with angle dependent damping can help to reduce impact forces in robots
Perera, S., Bornassi, S., Ghajari, M., & Nanayakkara, T. (2025) · Scientific Reports · doi:10.1038/s41598-025-13055-7 · Cited by 1
Gao, J. Y., Fan, R., Yang, H., Pang, H., & Tian, H. (2025) · Applied Sciences · doi:10.3390/app15158715 · Cited by 3
Shi, J., Li, R., & Guo, W. (2025) · Micromachines · doi:10.3390/mi16080903 · Cited by 1
“In the leg mode, the wheels are separated from the ground, and the movement is realized by the coordinated movement of the joints [7–9].”
Development of a Vision Based18-DOF Hexapod Robot Controlled by ROS2
Javed, S. M. A., Fakhrawi, H. K. A., Muzaffar, R. A., Altaif, A. H., Nataraj, S. K., & Das, D. S. (2024) · IEEE International Conference on Engineering Technologies and Applied Sciences (ICETAS) · doi:10.1109/icetas62372.2024.11120259 · Cited by 1
Safety and stability analysis of robot systems
Krishnamoorthy, N., Raja, M. S., Suresh Kumar, K., Ashika Preethi, S., Chandraprakash, R., & Girimurugan, R. (2025) · Elsevier eBooks · doi:10.1016/b978-0-443-33514-3.00016-2 · Cited by 2
eViper-2D: A Thin Large-Area Soft Robotics Platform
Cheng, H., Veilleux, E., Zheng, Z., Wagner, S., Verma, N., Sturm, J. C., & Chen, M. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128737 · Cited by 1
Contact Force Estimation for a Leg-Wheel Transformable Robot With Varying Contact Points
Shen, Y.-S., Yu, W.-S., & Lin, P. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127416 · Cited by 1
“There have been numerous developments in quadrupedal robotics, with robots such as ANYmal from ETH Zurich [1], HyQ from IIT [2], and Cheetah from MIT [3] making significant contributions alongside others in the field.”
Plotas, K., Papadakis, E., Drosakis, D., Trahanias, P. E., & Papageorgiou, D. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127351 · Cited by 1
“In the literature, the research in quadruped robots mainly focus of their design [16], their stable locomotion [17]–[19] or their stability in general [20], [21].”
Lee, S., Nahrendra, I. M. A., Lee, D., Yu, B., Oh, M., Lee, H., & Myung, H. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127805 · Cited by 1
“Among them, quadrupedal robots [1]–[3] have received significant interest from the research community owing to their high agility and ability to traverse diverse terrains.”
Offline Adaptation of Quadruped Locomotion Using Diffusion Models
O'Mahoney, R., Mitchell, A. L., Yu, W., Posner, I., & Havoutis, I. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128726 · Cited by 1
“We evaluate our approach on a set of locomotion tasks both in simulation and on hardware using an ANYbotics ANYmal quadruped robot [17].”
Tawil, D. O. A., Arena, P., Noce, A. L., & Patané, L. (2025) · Robotics · doi:10.3390/robotics14110158 · Cited by 1
“Some hybrid approaches, implemented, for instance, in the quadruped ANYmal, tried to enhance energy efficiency by integrating rolling mechanisms at the ends of the legs, thereby combining the advantages of walking and wheeled locomotion [11,12].”
Gait Simulation of Quadruped Robot Trot Based on Attitude Control
方, 鸿. (2023) · Modeling and Simulation · doi:10.12677/mos.2023.126459 · Cited by 1
Autonomous Human-Robot Interaction via Operator Imitation
Christen, S., Müller, D., Serifi, A., Grandia, R., Wiedebach, G., Hopkins, M. A., Knoop, E., & Bächer, M. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246153 · Cited by 1
“Today, a wide variety of robotic systems are capable of expressing a rich set of behaviors, including quadrupeds [1], humanoids [2], and non-anthropomorphic robots [3].”
Multi-Material 3D-Printed Magnetic Millirobot for Quadrupedal Locomotion in Endoluminal Spaces
Wang, R., Wang, J., & Wang, D. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246174 · Cited by 1
Yang, Z., Xu, Z., Rong, H., Mo, S., Chen, Y., Chen, Z., Wang, T., & Cheng, H. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246577 · Cited by 1
“Traditional designs have predominantly relied on rigid torsos, inspired by well-established models such as the Mini Cheetah[4], Unitree GO2 and ANYmal[5].”
Energy-Efficient Motion Planner for Legged Robots
Schperberg, A. V., Menner, M., & Cairano, S. D. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246509 · Cited by 1
“Hardware solutions such as Ranger [1] and ANYmal [2], reduce energy consumption using passive dynamics and mechanical springs.”
VertiSelector: Automatic Curriculum Learning for Wheeled Mobility on Vertically Challenging Terrain
Tong mo, X. U., Pan, C., & Xiao, X. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246235 · Cited by 1
“Traditional approaches rely on sophisticated kinodynamic modeling, motion planning, and vehicle control, which can cause cascading errors and are difficult to develop and adapt to changing conditions [9].”
Apostolides, G., Pan, W., Kober, J., Santina, C. D., & Ding, J. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247079 · Cited by 1
“Introducing passive compliance enhanced the performance [1]–[8], among which parallel compliance could improve the energy efficiency and enhance the explosive jumping behavior [4]–[8].”
Autonomous Grasping On Quadruped Robot With Task Level Interaction
Muhtadin, M., Rusydiansyah, M. H., Purnomo, M. H., Purnama, I. K. E., & Fatichah, C. (2025) · International Conference on Computer Engineering, Network, and Intelligent Multimedia (CENIM) · doi:10.1109/cenim67940.2025.11326444 · Cited by 1
“These four-legged robots are designed to emulate the locomotion of animals like dogs or horses [1],[2],[3] .”
Development of a Wheeled Quadruped Robot for Rough Terrains
Lin, C.-Y., Chen, X.-T., Chen, H.-C., & Lan, C.-W. (2025) · IEEE International Conference on Recent Advances in Systems Science and Engineering (RASSE) · doi:10.1109/rasse64831.2025.11315436 · Cited by 1
“Representative examples of legged robots include BigDog [1], ANYmal [2], and Mini Cheetah [3].”
Yaman, Y., Arslan, B., Ergin, Ö. Ç., Aukes, D. M., & Özcan, O. (2026) · Advanced Intelligent Systems · doi:10.1002/aisy.202501252 · Cited by 1
Hierarchical Algebra-Based Control Architecture for Trajectory Tracking in Quadruped Robots
Carvajal, C. P., Andaluz, V. H., Chicaiza, F. A., Robertí, F., Aldás, J. V., & Carelli, R. (2025) · International Conference on Advanced Robotics (ICAR) · doi:10.1109/icar65334.2025.11338626 · Cited by 1
“…[4], these types of robots have gained prominence in applications for industrial inspection, military field, exploration of uneven terrain, search and rescue operations, among other applications that require the use of mobile robots with the ability to access remote and inhospitable sites [5], [6].”
A call for a performance-driven approach for soft robotics research
Chen, Y., Chirarattananon, P., & Jayaram, K. (2026) · npj Robotics · doi:10.1038/s44182-026-00073-4 · Cited by 2
Qin, R., Zhu, Y., Qin, H., & Zhang, X. (2026) · Actuators · doi:10.3390/act15040178 · Cited by 1
ContractionPPO: Certified Reinforcement Learning via Differentiable Contraction Layers
Zinage, V., Harutyunyan, N., Verheyden, E., Hadaegh, F. Y., & Chung, S. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3678460 · Cited by 6
“WhilePPO,TumblerNetandRMA leavestheregionandultimatelyfailstoremainonplatform,ContractionPPOguaranteesthattherobotlieinsidethecircle(black). platforms in simulation and the real-world, enabling agile and versatile behaviors beyond the reach of classical model-based controllers [2], [3], [4].”
Bing, Z., Xiao, Y., Huang, Y., Shi, Q., Cheng, L., Hu, B., Chen, G., Gao, Y., Sun, F., Huang, K., et al. (2026) · IEEE Transactions on Robotics · doi:10.1109/tro.2026.3697171 · Cited by 1
“Although the state-of-the-art quadruped robots [1], [2] have reached a high level of mobility maturity, they still lag far behind the versatility and agility of the animals they take inspiration from.”
A Bio-Inspired Tensegrity Spine with Adjustable Stiffness for Quadruped Robots
Lian, Y., Wang, T., Tyrrell, A. M., & Post, M. A. (2026) · Robotics · doi:10.3390/robotics15060103 · Cited by 1
“Typically, a robot spine design depends on its type and required functionality [1–5], but most quadruped robots do not have a moveable spine structure [6–10].”
Maoudj, A., Saputra, A. A., Brahmi, B., & Nouioua, M. (2026) · Scientific Reports · doi:10.1038/s41598-026-56856-0 · Cited by 1
“Hutter et al. demonstrated this on ANYmal 5 ; Bjelonic et al. and de Viragh et al. extended the idea to wheeled-legged hybrids with ZMP and terrain-contact constraints 6,7 .”
Sampling Strategy Design for Model Predictive Path Integral Control on Legged Robot Locomotion
Tao, C., Wang, F., Jiang, H., He, J., Chen, Y., & Bu, Q. (2026) · International Conference on Electrical Engineering, Control and Robotics (EECR) · doi:10.1109/eecr69522.2026.11549244 · Cited by 1
“This property makes MPPI particularly attractive for systems with complex dynamics and hybrid behaviors, including legged robots, where analytical solutions and convex formulations are often impractical [6], [7].”
Scaling Rough Terrain Locomotion With Automatic Curriculum Reinforcement Learning
Li, Z., Li, C., & Hutter, M. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3703486 · Cited by 1
“AllsimulationsareperformedinIsaacLab[17],andtheANYmal D[18]quadrupedrobotwith12 ◦ -of-freedom joints is used for both simulation and real-world deployment.”
Self-citationAn efficient beam search algorithm for active perception in mobile robotics
Qu, K., Wang, H., Klemm, V., Cadena, C., & Hutter, M. (2026) · The International Journal of Robotics Research · doi:10.1177/02783649261455911 · Cited by 1
“We deploy our planner on the ANYmal quadruped robot (Hutter et al. 2016), equipped with a ZED X Mini camera mounted on the front-facing end-effector, offering a field of view of [74 The collision model is adapted to better encapsulate the legged robot’s body, resulting in larger and additional…”
Self-citationA Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis
Singh, A., Goswami, B. G., Nehete, K., & Kolathaya, S. (2025) · Advances in Robotics - International Conference of The Robotics Society (AIR) · doi:10.1145/3787370.3787373 · Cited by 1
“From the analysis, as shown in Table I, many quadrupedal platforms demonstrate impressive locomotion but involve trade-offs.”
InfluentialAgile perceptive multiskill locomotion for quadrupedal robots in the wild
Kang, J.-G., Park, J., Song, T.-G., Kim, J.-H., Hong, S., & Park, H.-W. (2026) · Science Robotics · doi:10.1126/scirobotics.adz7397 · Cited by 4
Matsuzawa, T., Matsubara, T., Hashimoto, K., Teramachi, T., Sun, X., Kimura, S., Sakai, N., Yoshida, Y., Imai, A., Kumagai, K., et al. (2018) · Courses and lectures · doi:10.1007/978-3-319-78963-7_36 · Cited by 1
Moving onto High Steps for a Four-limbed Robot with Torso Contact
Matsuzawa, T., Matsubara, T., Namura, K., Sun, X., Imai, A., OHKAWARA, M., Kimura, S., Kumagai, K., Yamaguchi, K., Naito, H., et al. (2019) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros40897.2019.8967833 · Cited by 1
“Several studies about the movement utilizing the contact of the body and ground such as LittleDog [9], ANYmal [10], etc. have been conducted.”
BackgroundInfluentialReal-time Replanning and Control of Quadruped Robots for Blind Locomotion on Uneven Terrain
Sun, H., Wang, C., & An, H. (2020) · IEEE International Conference on Unmanned Systems (ICUS) · doi:10.1109/icus50048.2020.9274810 · Cited by 1
“By using the above method, the ANYmal robot [9] has realized difficult walking tasks on various rough terrains.”
MethodDesign and Implementation of A Novel Quadruped Robot
Lin, W., Peng, B., & Jin, L. (2021) · IEEE Data Driven Control and Learning Systems Conference (DDCLS) · doi:10.1109/ddcls52934.2021.9455629 · Cited by 1
Development of Prototype Electric-driven 2-DoF Monopod Robot for Hopping Motion
Anzai, A., Doi, T., Hashida, K., Chen, X., Han, L., & Hashimoto, K. (2021) · IEEE International Conference on Mechatronics and Automation (ICMA) · doi:10.1109/icma52036.2021.9512643 · Cited by 1
“00 ©20211EEE jump at high speed, ANYmal of ETH [7], which has high motion performance such as moving up and down stairs and climbing over obstacles, and SpaceBok [8], which can jump powerfully in low gravity are examples.”
BackgroundYıldırım, M. C., Sabaghian, M., Goll, T., Kössler, C., Jähne, C., Swikir, A., Sarabakha, A., & Haddadin, S. (2022) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra46639.2022.9812006 · Cited by 1
“The actuator concepts such as pseudo-direct-drive and series elastic actuators [20] have the main benefit of durability against the impact forces, while it is a major problem for strain wave gear systems.”
BackgroundWhole-Body Pace Gait Control Based on Centroidal Dynamics of a Quadruped Robot
Adak, Ö. K., Bahçeci, B., & Erbatur, K. (2022) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim52237.2022.9863265 · Cited by 1
“The field of legged robots has advanced considerably during the last several decades [1], [2], [3], [4], [5].”
BackgroundLearning Various Locomotion Skills from Scratch with Deep Reinforcement Learning
Sorokin, D., & Babaev, D. L. (2022) · Studies in computational intelligence · doi:10.1007/978-3-031-19032-2_34 · Cited by 1
Learning to Walk on Low Friction Terrain by Reinforcement Learning
Chen, L., Wei, Q., Zhang, Z., Chang, X., Wei, X., & An, H. (2022) · International Conference on Robotics and Computer Vision (ICRCV) · doi:10.1109/icrcv55858.2022.9953239 · Cited by 1
“Hwangbo et al. [5] trained the control policy for the Anymal robot [6] to achieve robust and high-velocity motion while maintaining balance under large disturbances.”
BackgroundYang, Y., Zhang, C., & Xu, W. (2022) · International Conference on Control, Automation, Robotics and Vision (ICARCV) · doi:10.1109/icarcv57592.2022.10004338 · Cited by 1
“Currently, conventional legged robots use motors to directly drive joints, such as the SEA-driven ANYmal Robot developed by the Swiss Federal Institute of Technology Zurich [4].”
BackgroundGait Design and Numerical Simulation for a Quadruped Robotic System
Sureshkumar, V., Harib, K. H., & Oseni, A. O. (2023) · Advances in Science and Engineering Technology International Conferences (ASET) · doi:10.1109/aset56582.2023.10180653 · Cited by 1
“b or designs which features 3-DOF (hip adduction/abduction (HAA), hip extension/flexion (HFE) and knee extension/flexion (KFE)) on each of its four legs which is implemented in the ANYmal robot [3] shown in Fig.”
MethodBiarticular Muscles Improve the Stability of a Neuromechanical Model of the Rat Hindlimb
Deng, K., Hunt, A., Chiel, H. J., & Quinn, R. D. (2023) · Lecture notes in computer science · doi:10.1007/978-3-031-39504-8_2 · Cited by 1
Increasing Mobile Robot Tethered Payload Transport Capacity Through Multipurpose Manipulation
Kim, R., Diller, E., Harkonen, E., & Mazumdar, A. (2023) · IEEE/ASME International Conference on Advanced Intelligent Mechatronics · doi:10.1109/aim46323.2023.10196251 · Cited by 1
Actuation Mechanism and Control of Quadrupedal Robots: A Review
Fang, H. (2023) · International Seminar on Artificial Intelligence, Networking and Information Technology (AINIT) · doi:10.1109/ainit59027.2023.10212620 · Cited by 1
“ANYmal was able to implement this kind of gait and achieved excellent result in real-world navigation[14].”
BackgroundResearch on Motion Mode Conversion Control of Wheel-legged Biped Robot
Fu, Y., Li, X., & Dong, X. (2023) · IEEE International Conference on Mechatronics and Automation (ICMA) · doi:10.1109/icma57826.2023.10215782 · Cited by 1
Innovative Design and Simulation of a Jumping Bipedal Robot with Leg-Wheel Transformation
Yang, Y., Zhu, R., Li, Y., Zhang, Y., Ye, B., & Liu, B. (2023) · IEEE International Conference on Mechatronics and Automation (ICMA) · doi:10.1109/icma57826.2023.10215991 · Cited by 1
“The first solution is to use leg structures to achieve high adaptability to various terrains, using a walking gait, represented by BigDog, ANYmal, Mini Cheetah [1] [2] [3], etc.”
MethodForce-Estimation Based Interaction of Legged Robots through Whole-Body Dynamics
Yin, Y., Gao, F., Xiao, Y., Yang, L., & Fan, Z. (2023) · Lecture notes in computer science · doi:10.1007/978-981-99-6495-6_43 · Cited by 1
Animal-Like Eye Vision Assisted Locomotion of a Quadruped Based on Reinforcement Learning
Wei, X., Wei, Q., An, H., Zhang, Z., Yu, J., & Ma, H. (2023) · Lecture notes in computer science · doi:10.1007/978-981-99-6483-3_14 · Cited by 1
Gait Parameter Tuning Using Bayesian Optimization for an Alligator Inspired Amphibious Robot
Thakur, A. (2023) · Defence Science Journal · doi:10.14429/dsj.73.18315 · Cited by 1
“Some legged robot designs, such as TITAN XII 23 , ANYmal 24 , and the SCOUT 25, are not bio-inspired. in locomotion control, Kurazume 26-27 developed a feedforward and feedback dynamic trot gait control system for Titan-VIII.”
BackgroundMITEx: A Portable Hand Exoskeleton for Assessment and Treatment in Neurological Rehabilitation
Astarita, D., Pan, J., Amato, L., Ferrara, P., Baldoni, A., Dell’Agnello, F., Crea, S., Vitiello, N., & Trigili, E. (2023) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr58425.2023.10304721 · Cited by 1
“The low-level control layer, entrusted to the FPGA, implements the closed-loop torque controller, which sets the reference current to the driver; the control loop runs at 500 Hz.”
BackgroundModelling and Compensation for Transmission Error of Timing Belt in Legged Robots
Jiang, J., Zhang, Y., & Tsagarakis, N. G. (2023) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio58561.2023.10354989 · Cited by 1
“Both ETH ANYmal and IIT CENTAURO, two successful quadruped robots, adopt this configuration with the placement of the actuator at the knee joint [2], [3].”
BackgroundGeometrically Modulable Gait Design for Quadrupeds
Prasad, H. K. H., Hatton, R. L., & Jayaram, K. (2024) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2024.3418311 · Cited by 1
“Similarly, using our framework, larger state-of-the-art robotic systems [38] can benefit from more efficient geometric gait planners to save valuable resources during simple navigation tasks and obtain simple gait primitives or seed gaits for online trajectory optimization techniques [18], [37]…”
MethodDevelopment of a Dynamic Multi-object Planning Framework for Autonomous Mobile Robots
Sikora, T., & Papić, V. (2024) · Communications in computer and information science · doi:10.1007/978-3-031-62058-4_13 · Cited by 1
Rolling with Planar Parametric Curves for Real-time Robot Locomotion Algorithms
Mane, A., & Hubicki, C. M. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610524 · Cited by 1
“Legged robots are often modeled with point [10][11][12] or flat feet, and sometimes curved feet [13][14].”
BackgroundPuck, L., Schik, M., Schnell, T., Buettner, T., Roennau, A., & Dillmann, R. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10610693 · Cited by 1
“ANYmal C [7] in the Spanish Tabernas desert during an analog mission.”
BackgroundQuadruped Robot Locomotion Control Using Reinforcement Learning
Patil, G., Lakhekar, G. V., & Karajagikar, J. (2024) · IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems · doi:10.1109/icpeices62430.2024.10719228 · Cited by 1
Squatting with Prostheses-Inspired Compliant Robotic Legs
Bendfeld, R., & Remy, C. D. (2024) · IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob60516.2024.10719874 · Cited by 1
“Despite its widespread use in robotics and rehabilitation [13], [14], [15], [16], the fundamental design of SEA for legged robots can be potentially improved even further.”
BackgroundThe Design of the Barkour Benchmark for Robot Agility
Yu, W., Caluwaerts, K., Işçen, A., Kew, J. C., Zhang, T., Freeman, D., Lee, L., Saliceti, S., Zhuang, V., Batchelor, N., et al. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801377 · Cited by 2
“Recent notable examples include the ETH ANYmal [1], the MIT Mini Cheetah [2], the KAIST RaiBo [3], Unitree A1/Go1 [4], and the Boston Dynamics Spot robots [5].”
Online Determination of Legged Kinematics
Burgul, C., Lee, W., Geneva, P., & Huang, G. P. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801595 · Cited by 1
“Due to their stability and traversability in complex terrains, legged robots have demonstrated potential in various applications such as last-mile delivery and search and rescue [1].”
Hu, W., Long, J., Zang, Y., Weinan, E., & Han, J. (2025) · Communications in Nonlinear Science and Numerical Simulation · doi:10.1016/j.cnsns.2025.108603 · Cited by 3
CHIGLU: A Modular Hardware for Stepper Motorized Quadruped Robot—Design Approach and Analysis
Shahriar, A., & Anik, M. H. (2025) · MethodsX · doi:10.1016/j.mex.2025.103270 · Cited by 1
“This is because BLDC (Brushless Direct Current) motors are efficient for high torque and higher power density, which is why these motor types are used to build agile robots like MIT’s Mini Cheetah [ 10 ], Zurich’s ANYmal [ 11 ], and KAIST HOUND [ 12 ].”
Quadruped Robot Mastering Obstacle Avoidance: Integrating Perception and Decision-making
Zhao, K., Zhang, J., Liu, W., Lai, R., Guo, B., & He, L. (2024) · IEEE Smart World Congress (SWC) · doi:10.1109/swc62898.2024.00225 · Cited by 1
“Traditional designs of motion controllers for quadruped robots encompass footprint planning [17], trajectory optimization [18], and model predictive control [3].”
Curating tunable, compliant legs for specialized tasks
Chen, F., & Aukes, D. M. (2025) · The International Journal of Robotics Research · doi:10.1177/02783649251337110 · Cited by 1
“…and the optimum design depends on the operation environment and performance objectives, most quadruped robots in the literature and on the market made by Hutter et al. (2016), Katz et al. (2019), Grimminger et al. (2020), Boston Dynamics (2024), and Unitree (2024) have only one fi xed leg design.”
Probabilistic Approach to Feedback Control Enhances Multilegged Locomotion on Rugged Landscapes
He, J., Chong, B., Lin, J., Xu, Z., Bagheri, H., Flores, E., & Goldman, D. I. (2025) · IEEE Transactions on Robotics · doi:10.1109/tro.2025.3593133 · Cited by 1
“However, many advanced robotic systems rely on force sensors, accelerometers [12], [13], [14], [15], cameras, and LiDAR [16], [17], [18], [19], [20] for analyzing foot–environment interactions and estimating terrain geometry.”
Optimal Gait Control for a Tendon-Driven Soft Quadruped Robot by Model-Based Reinforcement Learning
Niu, X., Tan, K., Broo, D. G., & Feng, L. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128611 · Cited by 1
“Legged robots have demonstrated remarkable agility that is proved in research [1]–[3] and industrial settings.”
Simultaneous Ground Reaction Force and State Estimation Via Constrained Moving Horizon Estimation
Kang, J., & Xiong, X. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127398 · Cited by 1
“Legged robots have demonstrated exceptional versatility, with applications spanning various fields [1], including logistics, search and rescue, inspection, agriculture, and entertainment.”
A Pragmatist Robot: Learning to Plan Tasks by Experiencing the Real World
Qu, K., Lan, G., Zurbrügg, R., Chen, C., Mower, C. E., Ammar, H. B., & Hutter, M. (2026) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2026.3669804 · Cited by 10
“In our experiments, we use a legged manipulator that combines ANYmal [36], a quadrupedal robot, with a 6-DoF arm.”
Self-citationShardyko, I., Юрьевич, Д. И., Nanyageev, I., & Shmakov, O. (2019) · Smart innovation, systems and technologies · doi:10.1007/978-981-13-9267-2_10 · Cited by 1
Crawling Gait Planning and Simulation Analysis of Closed-chain Walking Leg Robot
Wang, Y., Wei, Q., & Ma, T. (2019) · IOP Conference Series Materials Science and Engineering · doi:10.1088/1757-899x/592/1/012072 · Cited by 1
“Most of the existing leg mechanisms are multi-joint open-chain mechanisms composed of connecting rods [1-2], which have many degrees of freedom and complex control.”
BackgroundOn Gain Selection of Active Damping Injection Controller for Series Elastic Actuators
Юрьевич, Д. И., Маркович, К. В., Titov, V., & Shardyko, I. (2020) · International Conference Nonlinearity, Information and Robotics (NIR) · doi:10.1109/nir50484.2020.9290226 · Cited by 1
“Series Elastic Actuator, usually referred to as SEA, nowadays is a common type of robotic actuators in most different applications – from space robots [1] to assistive robots [2] and from legged systems [3] to collaborative robotic arms [4].”
BackgroundGenerating Continuous Motion and Force Plans in Real-Time for Legged Mobile Manipulation
Ewen, P., Sleiman, J.-P., Chen, Y., Lu, W.-C., Hutter, M., & Vasudevan, R. (2021) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000502327 · Cited by 1
Self-citationResearch on Leg Transmission Mechanism of Quadruped Robot
Ma, B., Rui, Y., Wang, C., Peng, C., Zhu, H., & Li, X. (2021) · International Conference on Control, Robotics and Cybernetics (CRC) · doi:10.1109/crc52766.2021.9620134 · Cited by 1
Leg Structure based on Counterbalance Mechanism for Environmental Adaptive Robot
Park, H.-C., Oh, J.-S., Cho, Y.-J., Yun, H.-Y., Hong, H.-G., Kang, M.-S., Park, K.-H., & Song, J.-B. (2022) · Journal of the Korean Society of Manufacturing Process Engineers · doi:10.14775/ksmpe.2022.21.08.009 · Cited by 1
Hexabot Robot: Derivation of the dynamics equations
Misyurin, S. Y., Nosova, N. Y., Nelyubin, A. P., Zhao, J., & Martins, D. (2022) · Procedia Computer Science · doi:10.1016/j.procs.2022.11.121 · Cited by 1
Huang, C.-K., Hu, C.-J., Chang, I.-C., & Lin, P. (2022) · Journal of Mechanics · doi:10.1093/jom/ufac046 · Cited by 1
Pankov, S. (2023) · International Journal of Control Automation and Systems · doi:10.1007/s12555-021-0466-5 · Cited by 1
“[14] Marco Hutter, Christian Gehring, Dominic Jud, Andreas Lauber, C Dario Bellicoso, Vassilios Tsounis, Jemin Hwangbo, Karen Bodie, Peter Fankhauser, Michael Bloesch, et al.”
BackgroundSolving Footstep Planning as a Feasibility Problem using L1-norm Minimization (Extended Version)Preprint
Song, D., Fernbach, P., Flayols, T., Prete, A. D., Mansard, N., Tonneau, S., & Kim, Y. J. (2020) · arXiv (Cornell University) · doi:10.48550/arxiv.2011.09772 · Cited by 1
“We tested our approach in simulation in a variety of environments for the humanoid Talos [35] and the quadruped ANYmal [36].”
MethodSison, H., Ratsamee, P., Higashida, M., Uranashi, Y., & Takemura, H. (2021) · Research Square · doi:10.21203/rs.3.rs-892547/v1 · Cited by 1
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
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
