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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 principles for highly efficient quadrupeds and implementation on the MIT Cheetah robot
Seok, S., Wang, A. Z., Chuah, M. Y., Otten, D. M., Lang, J. H., & Kim, S. (2013) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2013.6631038 · Cited by 457
Design and Control Considerations for High-Performance Series Elastic Actuators
Paine, N., Oh, S., & Sentis, L. (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2270435 · Cited by 411
Valkyrie: NASA's First Bipedal Humanoid Robot
Radford, N. A., Strawser, P., Hambuchen, K., Mehling, J. S., Verdeyen, W. K., Donnan, A. S., Holley, J., Sanchez, J., Nguyen, V., Bridgwater, L., et al. (2015) · Journal of Field Robotics · doi:10.1002/rob.21560 · Cited by 300
State Estimation for Legged Robots: Consistent Fusion of Leg Kinematics and IMU
Bloesch, M., Hutter, M., Hoepflinger, M. A., Leutenegger, S., Gehring, C., Remy, C. D., & Siegwart, R. (2013) · The MIT Press eBooks · doi:10.7551/mitpress/9816.003.0008 · Cited by 277
Self-citationPaine, N., Mehling, J. S., Holley, J., Radford, N. A., Johnson, G., Fok, C., & Sentis, L. (2015) · Journal of Field Robotics · doi:10.1002/rob.21556 · Cited by 263
STARLETH: A COMPLIANT QUADRUPEDAL ROBOT FOR FAST, EFFICIENT, AND VERSATILE LOCOMOTION
Hutter, M., Gehring, C., Bloesch, M., Hoepflinger, M. A., Remy, C. D., & Siegwart, R. (2012) · WORLD SCIENTIFIC eBooks · doi:10.1142/9789814415958_0062 · Cited by 245
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Research works printed but not linked: 2
- boaventura, 2013, Hydraulic Compliance Control of the Quadruped Robot HyQ
- 0, ATLAS Robot, Boston Dynamics
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Items 801–900 of 969
Modeling the dynamics of the four-legged mechatronic walking device in the MATLAB Simulink
Баумана, М. И. Н. Э., & Вечерин, Я. А. (2018) · Politechnical student journal · doi:10.18698/2541-8009-2018-12-412
Design and Implement Towards Enhanced Physical Interactive Performance Robot Bodies
Ren, Z. (2019) · CINECA IRIS Institutial Research Information System (University of Genoa) · doi:10.15167/ren-zeyu_phd2019-02-13
Contact Planning for the ANYmal Quadruped Robot using an Acyclic Reachability-Based PlannerPreprint
Geisert, M., Yates, T., Orgen, A., Fernbach, P., & Havoutis, I. (2019) · arXiv (Cornell University) · doi:10.48550/arxiv.1904.08238
“[19] on our robotic platform, ANYmal [20], and explain some of the adjustments that need to be done to successfully compute feasible contact plans.”
MethodTime-optimal motion planning and control
Pham, T. H. (2019) · doi:10.32657/10220/49772
Vertical Jumping Motion Control for a Bio-inspired Legged Robot
Sato, R., & Ming, A. (2020) · Journal of the Robotics Society of Japan · doi:10.7210/jrsj.38.279
Patel, M., & Manivannan, P. V. (2020) · Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE) · doi:10.23919/sice48898.2020.9240373
“Different bio-inspired robots have been developed and tested in real-world conditions and by applying various controlling algorithm; starting from Bigdog by Boston Dynamics [2], scarlETH – series elastic robot [3], Cheetah series by MIT [4]–[7], Stoch by IISC Bangalore [8], ANYmal [9], Spot Mini by Boston Dynamics, Li…”
MethodProprioceptive Force Sensing Adapted on High-Ratio Custom Actuators in Quadrupedal Walking Robot
Wasilewski, P., & Grądzki, R. (2020) · International Carpathian Control Conference · doi:10.1109/iccc49264.2020.9257240
“Another solution is a specially designed spring which is connected in series with the motor [3].”
BackgroundNiu, J., Qin, X., & Wang, Z. X. (2021) · IEEE Access · doi:10.1109/access.2021.3060739
Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems
Katayama, S., & Ohtsuka, T. (2021) · Optimal Control Applications and Methods · doi:10.1002/oca.2750
From Space to Earth – Relative-CoM-to-Foot (RCF) control yields high contact robustness
Englsberger, J., Giordano, A., Hiddane, A., Schuller, R., Loeffl, F., Mesesan, G., & Ott, C. (2021) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids47582.2021.9555804
“Bellicoso et al. [14] perform various dynamic gaits with the quadruped ANYmal [15] by optimizing the whole-body motion and contact forces.”
BackgroundSolving Occlusion in Terrain Mapping with Neural Networks
Stölzle, M., Miki, T., Gerdes, L., Azkarate, M., & Hutter, M. (2021) · Repository for Publications and Research Data (ETH Zurich) · doi:10.3929/ethz-b-000520169
Self-citationLinear-Time Contact and Friction Dynamics in Maximal Coordinates using Variational IntegratorsPreprint
Brüdigam, J., Janeva, J., Sosnowski, S., & Hirche, S. (2021) · arXiv (Cornell University) · doi:10.48550/arxiv.2109.07262
“Exemplary scenarios are bipedal or quadrupedal walking for inspection and load carrying tasks [1], [2], or grasping and manipulation of objects [3], [4].”
BackgroundResearch on Adaptive Control in Complex Terrain for Quadruped Robot
Xu, P., Jiang, L., Yao, Q., Dang, R., Jiang, Y., Xing, B., Xu, W., Liu, Y., & Su, B. (2021) · Lecture notes in computer science · doi:10.1007/978-3-030-89134-3_24
A Position-Control-Based Framework for Dynamic and Robust Quadrupedal Trotting
Wang, B., Jia, L., Liu, S., Zhang, H., & Yin, Z. (2021) · International Conference on Mechanical Engineering and Robotics Research (ICMERR) · doi:10.1109/icmerr54363.2021.9680860
Lessons Learned from two Iterations of LLAMA, an Electrically Powered, Dynamic Quadruped Robot
Jasper, J., Kourchians, A., Gonzalez, M., Emanuel, B., Nicholson, J. V., McCutcheon, G., Austin, M., Kozlowski, M., Holmes, E. A., Hegeman, R. A., et al. (2022) · Field Robotics · doi:10.55417/fr.2022012
“Impedance control is most common for quadrupeds (Seok et al., 2013; Park et al., 2014; Semini et al., 2015; Hutter et al., 2016; Hubicki et al., 2016).”
BackgroundInfluentialStructure Design and Kinematic Analysis of a Novel Multi-mode Motion Transformation Mechanism
Guo, P., Qi, Y., Chen, Q., Shan, J., Gao, Y., & Wang, H. (2022) · Mechanisms and machine science · doi:10.1007/978-981-16-7381-8_24
Hong, D. W., Ahn, M. S., Hooks, J. R., & Yu, J. (2020) · Springer eBooks · doi:10.1007/978-3-642-41610-1_152-1
Kinetostatic analysis for compliant legged robots with ground contact forces evaluation
Tonetto, C. P., & Simas, H. (2022) · Meccanica · doi:10.1007/s11012-022-01555-z
Tracking Locomotion using Reinforcement Learning
Jadhav, R. (2022) · International Journal for Research in Applied Science and Engineering Technology · doi:10.22214/ijraset.2022.45509
Omnidirectional Motion Control Method of Quadruped Robot Based on 3D-CPG Oscillator Group
Tao, B., Yang, D., Huang, G., Zeng, Z., Chen, C., & Li, T. (2022) · Lecture notes in networks and systems · doi:10.1007/978-3-031-15226-9_29
Xây Dựng Bộ Điều Khiển PID Thích Nghi Trực Tiếp Cho Robot Động Vật Bốn Chân
Bùi, M. H., Phạm, T. P., Nguyễn, T. M. N., & Ba, D. X. (2022) · Technical Education Science/Giáo dục Kỹ thuật · doi:10.54644/jte.71b.2022.1130
Blended CPG and Independent Foot Trajectory Planning for Quadruped Robot
Han, M., Jie, P., Chen, G., & Lou, Y. (2022) · IEEE International Conference on Real-time Computing and Robotics (RCAR) · doi:10.1109/rcar54675.2022.9872263
Influence of Variable Leg Elasticity on the Stability of Quadrupedal Gaits
Fatti, F. D., Sesselmann, A., & Roa, M. A. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982204
“1), ANYmal, developed by ANYbotics [5] and StarlETH, developed by ETH [6].”
A*-Based Path Planning for Legged Robots
Kim, M., Kim, H., & Park, H.-W. (2023) · Lecture notes in networks and systems · doi:10.1007/978-3-031-26889-2_9
Hybrid UGV and Drone System for Mine Rescue Assistance
Racette, J., Dinelli, C., Escarcega, M. A., Montoya, J., Dunaway, C., Lotero, S., Khaniani, H., Shao, S., Roghanchi, P., & Hassanalian, M. (2023) · AIAA AVIATION Forum · doi:10.2514/6.2023-3812
Design and Modeling of Hollow Shaft Series Elastic Actuator for Legged Robot
Meng, Q., Li, Q., Tang, J., Tian, Y., Xu, K., & Ding, X. (2023) · IEEE Conference on Industrial Electronics and Applications (ICIEA) · doi:10.1109/iciea58696.2023.10241513
“Actuation Referring to the outstanding work of ANYdrive used in ANYmal, the maximum output torque and peak power are designed at 40 Nm and 600 W [6].”
MethodDesign and Development of the Small Hexapod Walking Robot HexWalker III
Wang, Q., & Jin, B. (2023) · Lecture notes in computer science · doi:10.1007/978-981-99-6480-2_5
Hong, J.-W., Bae, S., Hong, J., Yeo, C., & Oh, S. (2023) · doi:10.36227/techrxiv.24321025.v1
Hong, J.-W., Bae, S., Hong, J., Yeo, C., & Oh, S. (2023) · doi:10.36227/techrxiv.24321025
Robust and versatile control of lower limb exoskeletons
Rampeltshammer, W. F. (2023) · doi:10.3990/1.9789036559058
Research on motion control of bipedal wheeled-leg robot based on distributed model
Yang, Y., & Zhang, Z. (2023) · International Conference on Control and Intelligent Robotics (ICCIR) · doi:10.1117/12.3011344
“The virtual generalized force [8] actively output from the wheel-leg to the body rigid body is . w σ is the output torque of the driving wheel, and is the angle between the virtual component and the vertical direction.”
BackgroundGait generation for real-time quadruped locomotion
Jordaan, E., & Fisher, C. (2023) · MATEC Web of Conferences · doi:10.1051/matecconf/202338804022
“These platforms are capable of running [4], jumping [5], and traversing stairs [6], finding applications in mapping and industrial inspection [7, 8].”
BackgroundKuge, M., & Inoue, J. (2023) · Research Square · doi:10.21203/rs.3.rs-3790041/v1
Optimal Design of Agile Jumping Maneuvers for a Single Leg System
Patrizi, A., Ruscelli, F., Laurenzi, A., & Tsagarakis, N. G. (2023) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids57100.2023.10375160
“The autonomous quadruped ANYmal [1] is, for instance, an example of a torque-controllable robot capable of robustly navigating through harsh industrial environments while performing complex locomotion tasks.”
BackgroundControl of Arm-Foot Robot Through Model Predictive Control and Whole Body Control
Lu, H., Wei, N., Yan, L., & Chen, G. (2023) · China Automation Congress (CAC) · doi:10.1109/cac59555.2023.10450929
“The ANYmal quadruped robot launched by ANYbotics can achieve industrial inspection and gas leakage monitoring by being equipped with specific sensors [5-7] .”
MethodDesigning an Autonomous Mobile Robot based on Rocker-Bogie Concept for Terrain Purposes
Noor, N. M. M., Razali, Z. S. A., Wahab, R. M., & Ahmad, S. (2024) · Malaysian Journal of Science and Advanced Technology · doi:10.56532/mjsat.v4i2.263
“The ANYmal has four independently controlled legs equipped with specially designed suspension components, facilitating dependable and agile movement across challenging landscapes [14].”
BackgroundKinematic Analysis of the Translational Motions of a Quadruped Robot
Fernando, M. J., Saypulaev, G. R., Saypulaev, M. R., Astakhov, S. V., & Ninalalov, I. (2024) · International Youth Conference on Radio Electronics, Electrical and Power Engineering (REEPE) · doi:10.1109/reepe60449.2024.10479809
“Like any system, the hydraulic systems have its negative aspects, one of them is the inefficiency when operated at constant pressure [11-12].”
BackgroundCapture point control in thruster-assisted bipedal locomotion
Bondada, A. (2024) · doi:10.17760/d20659775
A linearization method for quadruped robots based on centroidal kinematics
Fan, W., Yang, P., Feng, N., & Zhang, S. (2024) · Youth Academic Annual Conference of Chinese Association of Automation (YAC) · doi:10.1109/yac63405.2024.10598547
“Nowadays, many famous quadruped robots have been emerged, including Boston Dynamics’ BigDog [1], WildCat, and Spot series [2] , ETH’s ANYMal [3], Xiaomi’s CyberDog series, MIT’s Cheetah series [4] [5], DeepRobotics’ Jueying series, and Unitree’s Laikago and Aliengo, all of which have made…”
MethodStochastic Wiring of Cell Types Enhances Fitness by Generating Phenotypic VariabilityPreprint
Lachi, D., Huang, A., Mavor-Parker, A. N., Ghosh, A., Richards, B. A., & Zador, A. M. (2024) · bioRxiv (Cold Spring Harbor Laboratory) · doi:10.1101/2024.08.07.606541
“In Section 2.3.2, we experiment with controlling the Ant agent with different body morphologies, and controlling a simulated quadruped ANYmal robot (Hutter et al., 2016) on different terrains.”
MethodInfluentialOptimization Based Dynamic Skateboarding of Quadrupedal Robot
Xu, Z., Al-Khulaqui, M., Ma, H., Wang, J., Xin, Q., You, Y., Zhou, M., Xiang, D., & Zhang, S. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611075
“Furthermore, Marko Bjelonic et al., also from the Marco Hutter group, equipped a new version of the ANYmal robot [6] with active wheels, resulting in impressive locomotion skills such as ducking under a table, fast spinning [7], and standing on its rear legs [8].”
BackgroundHybrid Locomotion of a Mobile Parallel Robot with a Minimal Number of Motors
Rosyid, A., & El‐Khasawneh, B. (2024) · International Conference on Reconfigurable Mechanisms and Robots (ReMAR) · doi:10.1109/remar61031.2024.10617695
“By using the legs as in a common quadruped [10-11], the robot can move more easily on irregular terrains such as steps and stairs.”
MethodChen, Y., Zhang, C., Gu, P., Qiu, J., Yin, J., Qiu, N., Huang, G., Huang, B., Zhang, Z., Deng, H. P., et al. (2024) · International Conference on Reconfigurable Mechanisms and Robots (ReMAR) · doi:10.1109/remar61031.2024.10618090
“While distributed actuation directly attached to each joint in a kinematic open-chain is straightforward in engineering [7], limitations in power density and cost constraints usually prefer the adoption of linkages for power and motion transmission [8], where the actuators could be placed closer to…”
BackgroundOvercoming Obstacles with a Home Walking Robot
Dobrynin, D. A., & Zhiteneva, Y. (2024) · Lecture notes in computer science · doi:10.1007/978-3-031-71360-6_32
Itsuno, T., Ishii, Y., Doi, M., Kondo, H., Ito, F., & Nakamura, T. (2024) · Lecture notes in networks and systems · doi:10.1007/978-3-031-70722-3_27
HAPmamba: Linear-Time Sequence Modeling for Terrain Classification by Legged Robots
Wiliński, M., Łysakowski, M., & Walas, K. (2024) · Lecture notes in networks and systems · doi:10.1007/978-3-031-70722-3_6
Learning Cost Functions for Reinforced Learned Controllers in a Quadrupedal Robot
Torre, G., Nieto, O. Y., Simoes, A. A., Giribet, J. I., & Colombo, L. J. (2024) · IFAC-PapersOnLine · doi:10.1016/j.ifacol.2024.08.254
Design and Realization of a Multimodal Wheel-Leg Hybrid Mobile Robot
Xie, Z., Qin, J., Li, H., & Fang, S. (2024) · WRC Symposium on Advanced Robotics and Automation (WRC SARA) · doi:10.1109/wrcsara64167.2024.10685811
Inertial-Joint Learning-Aided Robust Pose Estimation for Legged Robots
Kim, Y., Choi, J., & Myung, H. (2024) · Lecture notes in networks and systems · doi:10.1007/978-3-031-70684-4_21
Lowering reinforcement learning barriers for quadruped locomotion in the task space
Cooke, L. H., & Fisher, C. (2024) · MATEC Web of Conferences · doi:10.1051/matecconf/202440604007
“This work utilises a physical and simulated ANYmal [25] robot to develop control policies that can respond to high-level velocity commands as well as recover from a fall.”
Research on composite anti-disturbance adaptive constraint control strategy for quadruped robot
Gong, C., Yang, K., Yuan, L., & Xu, A. (2024) · Transactions of the Institute of Measurement and Control · doi:10.1177/01423312241295839
“The research team of the quadruped robot ANYmal adopts a whole-body model predictive control strategy, achieving relatively stable motion control of the robot (Bjelonic et al., 2021; Hutter et al., 2016; Shi et al., 2021).”
Tension Feedback Control for Musculoskeletal Quadrupedal Locomotion over Uneven Terrain
Tanaka, H., Matsumoto, O., Kawasetsu, T., & Hosoda, K. (2024) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros58592.2024.10801663
Weiß, M., Pawluchin, A., Seel, T., & Boblan, I. W. (2024) · International Conference on Control, Automation, Robotics and Vision (ICARCV) · doi:10.1109/icarcv63323.2024.10821620
Motion Planning for Quadrupled Teams: An Experimental Evaluation Using a Dynamic Fluid Flow Model
Ghufran, M., Tetakayala, S., & Rastgoftar, H. (2024) · International Conference on Control, Automation, Robotics and Vision (ICARCV) · doi:10.1109/icarcv63323.2024.10821616
DASH: An Open Access Low-Cost Quadruped Robot for Innovative Applications
Alotaibi, L., Alabdulrahman, M., & Houda, T. (2024) · International Conference on Computational Intelligence and Communication Networks (CICN) · doi:10.1109/cicn63059.2024.10847460
“The ANYmal robot [3] demonstrates robust autonomous operation in challenging environments, focusing on high torque control and energy efficiency.”
Servo-Driven Flapping-Wing Aerial Vehicle (FWAV): Payload Capacity and Navigation Performance
Afakh, M. L., Saputra, A. A., Hidaka, S. A. T. O., Wada, K., & Takesue, N. (2025) · IEEE/SICE International Symposium on System Integration (SII) · doi:10.1109/sii59315.2025.10870592
“There are many developed robot in different type for enviromental issues, such as: legged robot [1], [2], mobile robot [3].”
Two-Joint Robotic Unit Fabricated by the Robot Packaging Method
Nishiyama, H., Editorial Office, & Shibata, M. (2025) · Journal of Robotics and Mechatronics · doi:10.20965/jrm.2025.p0203
High-Performance Torque Feedback Actuator for Humanoid Robots
Liu, X., Hong, Z., & Zhang, W. (2024) · IEEE International Conference on Robotics and Biomimetics (ROBIO) · doi:10.1109/robio64047.2024.10907697
“Considering that any devised controller will introduces time delays and amplify sensor noise [23], for better torque control performance, the output of torque controller is directly the voltage that drives the motor, not as an additional cascade to the current closed-loop control [5], [6].”
Variable Reduction-ratio Gear for Environmentally Adaptive Robots
Iemura, N., & Katsura, S. (2024) · Annual Conference of the IEEE Industrial Electronics Society (IECON) · doi:10.1109/iecon55916.2024.10906037
Input Stride-based Walking Strategy of a Quadruped Robot for Overcoming Uneven Terrain
Ji, W.-S., Kim, H. S., & Cho, B. (2025) · Journal of Institute of Control Robotics and Systems · doi:10.5302/j.icros.2025.24.0274
Intelligent Condenser Cleaning Mobile Manipulator Robot System
Wang, Y., Chen, Y., Zhong, H., & Liang, J. (2025) · Springer eBooks · doi:10.1007/978-981-96-2512-3_2
Research on Crack Image Detection Technology of Aircraft Structure in Narrow Space
Wang, W., Zhang, M., Liu, Y., Xue, J., Sun, J., & Pang, H. (2025) · Lecture notes in mechanical engineering · doi:10.1007/978-981-97-9774-5_7
Research on the Single-Leg Compliance Control Strategy of the Hexapod Robot for Collapsible Terrains
Sun, P., He, Y., Feng, S., Dai, X., Zhang, H., & Li, Y. (2025) · Applied Sciences · doi:10.3390/app15105312
Hopping Control of a Monopod Robot: Reinforcement Learning vs Raibert Heuristic
Yuan, Z., Ye, L., Liu, H., & Liang, B. (2025) · International Conference on Robotics, Control and Automation (ICRCA) · doi:10.1109/icrca64997.2025.11011014
“These actions provide smooth control over the robot's movements, enabling it to adapt its internal configuration to maintain balance and achieve effective hopping [21].”
Keefe, A. J., Scherpbier, Z., Dion, M., Kauff, J., & Hament, B. (2025) · Systems and Information Engineering Design Symposium · doi:10.1109/sieds65500.2025.11021214
Research Regarding the Structure of an Autonomous Mobile Robot Used to Navigate a University Campus
Stănescu, V.-A., Donţu, O. G., Grămescu, B., Buga, A., Cartal, L. A., & Nica, I.-C. (2025) · Lecture notes in mechanical engineering · doi:10.1007/978-3-031-93554-1_23
Depth‐Predictable VSLAM for a Small‐Scale Robotic Rat in Dynamic Environments
Zhang, Y., Chen, Z., Li, C., Yu, Z., Li, S., & Shi, Q. (2025) · Journal of Field Robotics · doi:10.1002/rob.70002
Modular Actuator for Multimodal Proprioceptive and Kinesthetic Feedback of Robotic Hands
Park, S., Lim, M. T., & Hwang, D. (2025) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2025.3585714 · Cited by 1
“Developing actuator systems for robotic hands that can provide PK feedback presents significant challenges, particularly in comparison to larger robotic applications [6], [7], [8], [9], [10], [11].”
Ilg, W., Wochner, I., Charaja, J. P. F., Hofmann, V., Strenge, O., Adam, M., Lendway, R., Kerner, J., Vashisht, B. D., Ackermann, M., et al. (2025) · International Conference on Rehabilitation Robotics · doi:10.1109/icorr66766.2025.11063050
“ROS2 provides the ability to reliably exchange and store large amounts of data at high frequency and is widely used in medical and industrial applications [11] [12] [13].”
A Unified Control Strategy for Arm-Quadruped Robots in Tasks Involving Dynamic Heights
Wu, H., Zhong, X., Gong, T., Zou, Z., Kang, S., & Zhong, X. (2025) · Chinese Control and Decision Conference (CCDC) · doi:10.1109/ccdc65474.2025.11090930
Gong, W., Zheng, X., Yang, X., & Qing, Z. (2025) · SSRN Electronic Journal · doi:10.2139/ssrn.5380289
Reinforcement Learning in Robotic Systems: A Review on Sim-to-Real TransferPreprint
Khapre, S. P., Tiwari, R., & Singh, A. (2025) · SSRN Electronic Journal · doi:10.2139/ssrn.5387665
Development of a Terrain Adaptive Quadruped-Wheeled Robot
Joseph, A. G., & Sreevidya, P. (2025) · International Conference on Robotics and Automation Sciences (ICRAS) · doi:10.1109/icras65818.2025.11108851
“Notable designs include the ANYmal robot [1], developed at ETH Zurich, which drew inspiration from the MIT Cheetah robot.”
Acquiring Tactile Skills on a Quadruped Robot Using Vision-Based Soft Tactile Sensors
Chen, Z., Li, L., Liu, J., Modugno, V., Kanoulas, D., & Thuruthel, T. G. (2025) · Lecture notes in computer science · doi:10.1007/978-3-032-01486-3_15
“Pioneering developments in this field include Boston Dynamics’ BigDog [1,2], designed in collaboration with DARPA, which demonstrated robust mobility on diverse terrains.”
Chen, R., Kwon, J., Wu, K., & Chen, W. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128587
“Examples of this approach can be seen in robots like ANYmal [5], Minitaur [6], and MIT Cheetah [7].”
WaLTER: A Wheel and Leg Tumbling Expedition Robot
Jay, D., Hackett, J., Bosscher, P., Hubicki, C. M., & Clark, J. E. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128221
“…as ANYmal or the Unitree Go2-W can use their legs as a type of adaptive suspension on rough terrain, and can lift their wheels up when they come to a ledge or curb [6], [10], but they are still subject to the same limitations as typical quadrupeds when navigating more contact dependent obstacles.”
Wallbounce: Push Wall to Navigate with Contact-Implicit MPC
Liu, X., Dai, C., Zhang, J. Z., Bishop, A. L., Manchester, Z. R., & Hollis, R. L. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11127229
“In recent years, the rising interest in generalist robot agents has accelerated the design of robot hardware platforms equipped with both wheeled bases or legs for locomotion and arms for manipulation [4], [5], [6].”
Rytz, D., Choi, S., Yu, W., Merkt, W., Hwangbo, J., & Havoutis, I. (2025) · European Conference on Mobile Robots · doi:10.1109/ecmr65884.2025.11162971
Self-citationDesign and Validation of an AB/AD-Enabled RHex-Style Robot
Lin, S.-C., Huang, Y., Lee, G.-Y., Yang, S.-W., & Lin, P. (2025) · International Conference on Advanced Robotics and Intelligent Systems (ARIS) · doi:10.1109/aris66143.2025.11163466
“Notable platforms such as MIT’s Cheetah [9] [10] and ETH Zurich’s ANYmal [11] [12] have demonstrated that AB/AD equipped legs can significantly improve the robot’s ability to balance, adapt to terrain, and execute agile maneuvers.”
A Decentralized Reinforcement Learning Approach for Modular Octoped Locomotion Control
Li, G., Zhou, L., Sun, J., Zhang, Y., Fan, S., Dai, X., & Li, Y. (2025) · WRC Symposium on Advanced Robotics and Automation (WRC SARA) · doi:10.1109/wrcsara68202.2025.11194925
“Among them, quadrupeds such as Mini-Cheetah[1], ANYmal[2], and Spot have demonstrated strong locomotion capabilities.”
A bionic dual-modal robust control strategy for a quadruped robot adapted to sloping terrain
Gong, C., Zhou, M., Yuan, L., & Zhang, N. (2025) · Measurement Science and Technology · doi:10.1088/1361-6501/ae14a2
Barragan, R. N. C., Alamilla, M. E. R., Ruiz, R. B. J., Zagal-Flores, R., & Barria, C. (2025) · Communications in computer and information science · doi:10.1007/978-3-032-06760-9_12
One-DoF robotic design of overconstrained limbs with energy-efficient, self-collision-free motion
Gu, Y., Huang, B., Sun, H., Xu, R., Yin, J., Zhang, W., Wan, F., Pan, J., & Song, C. (2025) · Fundamental Research · doi:10.1016/j.fmre.2025.09.023
“The open-chain limbs are a common choice by serially connecting rotation motors with specific configurations for agile motion and avoiding self-collision, such as the robotic manipulators [2, 3, 4], quadruped robots [5, 6], and humanoid robots [7, 8, 9].”
Walking, Rolling, and Beyond: First-Principles and RL Locomotion on a TARS-Inspired Robot
Sripada, A., & Warrier, A. (2025) · IEEE-RAS International Conference on Humanoid Robots (Humanoids) · doi:10.1109/humanoids65713.2025.11203077
High-Order Adaptive Integration of Contact Dynamics in MuJoCo
Li, H., & Ding, Y. (2025) · Lecture notes in computer science · doi:10.1007/978-981-95-2098-5_30
Wu, X., Zhou, H., Zeng, Y., & Yu, J. (2025) · Lecture notes in networks and systems · doi:10.1007/978-3-032-09051-5_9
Adaptive Gait Pattern Switching under External Disturbances Using Multi-Modal MPC
Kang, J., Ham, B.-I., Han, S., Kim, H., & Kim, K. (2025) · IEEE RO-MAN · doi:10.1109/ro-man63969.2025.11217651
“Among these, quadruped robot platforms, such as MIT’s Cheetah series [1], [2], ETH’s ANYmal [3], KAIST’s Hound [4], and IIT’s HyQ [5], [6], have been actively developed, and numerous control methods have been introduced to improve the performance [7]–[10].”
Motion control of quadruped robots in complex terrain
Kang, H., Wang, Z., Wang, K., & Wang, C. (2025) · Journal of King Saud University - Computer and Information Sciences · doi:10.1007/s44443-025-00292-z
“For example, (Boston Dynamics, Spot 2024), the ANYmal robot, was developed by the Swiss Federal Institute of Technology Zurich (ETH) (Hutter et al. 2016), MIT Mini Cheetah (Katz et al. 2019).”
Learning Smooth and Coordinated Quadruped Motions via Incremental Foot Position Control
Chen, Y., Sheng, J., Fang, X., Tan, W., Li, Z., Zhang, Q., Song, R., & Zhang, W. (2025) · Lecture notes in computer science · doi:10.1007/978-981-95-4398-4_20
Design, Construction and Performance Test of a Rough Terrain Beetle Robot
Alam, M. M., & Islam, M. S. (2025) · SciEn Conference Series Engineering · doi:10.38032/scse.2025.3.117
“Existing research on robots that are primarily focused on flat terrain, such as HyQ2Max [5], ANYmal [6], MIT Cheetah 3 [7], and TITAN-XIII [8], works on quadruped and dynamic locomotion, fast speed with high robustness against uneven terrains and disturbance.”
Proprioceptive Motors as Emulators for Musculoskeletal Dynamics
Jackson, C. B., Shew, E. T., Quinn, R. D., & Nourse, W. R. P. (2025) · Lecture notes in computer science · doi:10.1007/978-3-032-07448-5_46
Azoulay, L., Kutsuzawa, K., Koseki, S., Owaki, D., & Hayashibe, M. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246973
Zheng, Z., Zhan, G., Shuai, B., Qin, S., Li, J., Zhang, T., & Li, S. E. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246100
Design and Active Stability Control of a Wheel-foot Mobile Platform with High Trafficability
Li, X., Yi, H., & Yuan, H. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11246831
“Hutter’s quadruped robot ANYmal demonstrates exceptional mobility and dynamic motion capabilities with remarkable outdoor adaptability [12].”
FOCI: Trajectory Optimization on Gaussian Splats
Andreu, M. G., Wilder-Smith, M., Klemm, V., Patil, V., Tordesillas, J., & Hutter, M. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11245845
“Splines show A* initial trajectories while green, red and blue Gaussians show an orientation-aware plan with green representing the front, red the center, and blue the rear. rendering speeds allow for rapid training of environments in a matter of minutes.”
Self-citationCueLearner: Bootstrapping and local policy adaptation from relative feedback
Schiavi, G., Cramariuc, A., Ott, L., & Siegwart, R. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247163
“We simulate a quadruped robot (ANYmal [23]) in a procedurally-generated 3D environment.”
Xiao, T., Zhou, X., Liu, L., Sui, W., Feng, W., Qiu, J., Wang, X., & Su, Z. (2025) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros60139.2025.11247651
“In the field of legged robot SLAM, MIT Cheetah2 [26] and ANYmal [27] use a combination of stereo, RGB-D cameras, or LiDAR to position and build robot-centric maps.”
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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