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Thread: ANYmal, quadrupedal robot, Robotic Systems Lab, Institute of Robotics and Intelligent Systems, Zurich, Switzerland

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    Introducing ANYmal

    Published on Feb 9, 2016

    Following on from the successes of StarlETH, ETH Zurich's very own bioinspired walking robot, here Marco Hutter (RSL, ETH Zurich and NCCR Robotics) explains how ANYmal has been upgraded and why it's important.

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    ANYmal walk, trot, climb

    Uploaded on Feb 11, 2016

    First impression of the ANYmal robot

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    Article "A new quadrupedal robot, the ANYmal"

    by Linda Seward, NCCR Robotics
    February 25, 2016

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    ANYmal - some highlights from the lab and ARGOS challenge

    Published on May 10, 2016

    ANYmal is a quadrupedal robot designed for autonomous operation in challenging environments. Driven by special compliant and precisely torque controllable actuators, the system is capable of dynamic running and high-mobile climbing. Thanks to incorporated laser sensors and cameras, the robot can perceive its environment to continuously create maps and accurately localize. Based on this information, it can autonomously plan its navigation path and carefully select footholds while walking. Driven by our first real-world application, namely industrial inspection of oil and gas sites, ANYmal carries batteries for more than 2h autonomy and different sensory equipment such as optical and thermal cameras, microphones, gas-detection sensors and active lighting. With this payload, the machine weighs less than 30kg and can hence be easily transported and deployed by a single operator.

    This work was supported in part by the Swiss National Science Foundation (SNF) through the National Centre of Competence in Research Robotics, by the EC's 7th Famework ECHORD++ Project Module, by TOTAL SA through the ARGOS Challenge, and by the Branco Weiss Fellowship.

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    ANYmal Free Gait motions

    Published on May 10, 2016

    Collection of maneuvers with Free Gait, a framework for the versatile control of legged robots.

    Peter Fankhauser, Dario Bellicoso, Christian Gehring, Georg Wiedebach, Marco Hutter, "Free Gait: Versatile Control of Legged Robots", Workshop on Dynamic Locomotion and Manipulation (DLMC), 2016.

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    Prototype docking station for ANYmal

    Published on Jun 15, 2016

    A portable and protective autonomous docking station for ANYmal. Enabling ANYmal to stay active for long periods, without human interaction and provides two ways to safely transport ANYmal with its docking station, both locally at the current site and globally between different operating sites.

    Max Ahlberg, "Design of an Autonomous Docking Station for ANYmal", Semester thesis, ETH Zurich, 2016.

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    ANYmal for the Oil & Gas Industry

    Published on Jul 4, 2016

    The legged robot ANYmal is ideally suited for the demanding environment of oil and gas sites. Onboard inspection sensors and computer vision is used to automatically monitor the state of operation. ANYmal can move in narrow hallways, climb over obstacles, and scale steep stairs.

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    Outdoor terrain mapping with ANYmal

    Published on Sep 9, 2016

    Navigation in rough terrain requires an understanding of the environment. This work demonstrates the mapping capabilities of the quadrupedal robot ANYmal outdoors in a forest. For accurate scanning, the robot carries two rotating laser range sensors in the front and the back. The mapping is based on the fusion of the pose estimation of the robot (through inertial and kinematic measurements) and the distance measurements of the laser scanners.

    The results of this video have been published in:

    P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart, "Robot-Centric Elevation Mapping with Uncertainty Estimates," in International Conference on Climbing and Walking Robots (CLAWAR), 2014.

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    Perception-less terrain adaptation through whole body control and hierarchical optimization

    Published on Oct 7, 2016

    We present a control approach based on a whole body control framework combined with hierarchical optimization. Locomotion is formulated as multiple tasks (e.g. maintaining balance or tracking a desired motion of one of the limbs) which are solved in a prioritized way using QP solvers. It is shown how complex locomotion behaviors can purely emerge from robot-specific inequality tasks (i.e. torque or reaching limits) together with the optimization of balance and system manipulability. Without any specific motion planning, this prioritized task optimization leads to a natural adaption of the robot to the terrain while walking and hence enables blind locomotion over rough grounds. The presented framework is implemented and successfully tested on ANYmal, a torque controllable quadrupedal robot. It enables the machine to walk while accounting for slippage and torque limitation constraints, and even step down from an unperceived 14cm obstacle. Thereby, ANYmal exploits the maximum reach of the limbs and automatically adapts the body posture and height.

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