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.
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.
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.
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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