Multilegged robots have the potential to serve as assistants for humans, replacing them in
performing dangerous, dull, or unclean tasks. However, they are still far from being …

As an important basic component of quadruped robots, mechanical legs provide the robots
with excellent maneuverability and versatility, which determine the core application …

This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and
dynamic motion capability. Thanks to novel, compliant joint modules with integrated …

This paper provides a system overview about ANYmal, a quadrupedal robot developed for
operation in harsh environments. The 30 kg, 0.5 m tall robotic dog was built in a modular …

This paper discusses design and control of a prismatic series elastic actuator with high
mechanical power output in a small and lightweight form factor. A design is introduced that …

This paper introduces Starl ETH, a compliant quadrupedal robot that is designed to study
fast, efficient, and versatile locomotion. The platform is fully actuated with high compliant …

Quadrupedal animals move through their environments with unmatched agility and grace.
An important part of this is the ability to choose between different gaits in order to travel …

This paper presents the application of operational space control based on hierarchical task
optimization for quadrupedal locomotion. We show how the behavior of a complex robotic …

This paper provides an overview about StarlETH: a compliant quadrupedal robot that is
designed to study fast, efficient, versatile, and robust locomotion. The platform is driven by …

This paper introduces the mechanical design and the control concept of the Series
Compliant Articulated Robotic Leg ScarlETH which was developed at ETH Zurich for fast …