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Thread: HyQ, Hydraulic Quadruped Robot, Dynamic Legged Systems Lab, Italian Institute of Technology (IIT), Genova, Italy

  1. #1

    HyQ, Hydraulic Quadruped Robot, Dynamic Legged Systems Lab, Italian Institute of Technology (IIT), Genova, Italy


  2. #2


    HyQ - IIT's Hydraulic Quadruped Robot - Balancing and First Outdoor Tests

    Published on May 14, 2012

    HyQ is a new versatile quadruped robot with hydraulic+electric actuation developed at the Department of Advanced Robotics at the Italian Institute of Technology (IIT). HyQ is fast, robust, actively compliant and ready for versatile locomotion. It weighs 70kg and is 1m long.

    This video shows balancing and outdoor tests with HyQ at IIT. It shows walking over unperceived obstacles using active compliance and IMU for stabilization.

  3. #3


    Probably The Most Versatile Quadruped Robot: HyQ

    Published on Mar 13, 2014

    The versatile quadruped robot HyQ demonstrates its motion skills that range from planned motion over uneven terrain to highly dynamic motions. Some of the highlights are: chimney climbing, lateral disturbances by 23kg boxing bag, planned motion over stepping stones and pallets, and a flying trot. All experiments are executed on the same machine. There are no physical springs in the legs or body of HyQ, all compliance results from active adjustment of stiffness and damping (by software). The high-performance joint torque control is a key element to achieve such a wide range of stable motions.

    The following publications provide the details of the used controllers, planners, hardware, etc.

    0:17 - 0:49
    A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, R. Dillmann, D. G. Caldwell, C. Semini, "Path Planning with Force-Based Foothold Adaptation and Virtual Model Control for Torque Controlled Quadruped Robots," IEEE International Conference on Robotics and Automation (ICRA), 2014.

    0:50 - 1:32 and 1:47 - 1:54 and
    V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. De Pieri, D. G. Caldwell, "A Reactive Controller Framework for Quadrupedal Locomotion on Challenging Terrain", IEEE International Conference on Robotics and Automation (ICRA), 2013.

    1:33 - 1:46
    C. Semini, V. Barasuol, T. Boaventura, M. Frigerio, J. Buchli, "Is Active Impedance the Key to a Breakthrough for Legged Robots?" International Symposium of Robotics Research (ISRR), 2013.

    1:55 - 2:13
    M. Focchi, V. Barasuol, I. Havoutis, J. Buchli, C. Semini, D. G. Caldwell, "Local Reflex Generation for Obstacle Negotiation in Quadrupedal Locomotion", Int. Conf. on Climbing and Walking Robots (CLAWAR), 2013.

    2:13 - 2:17
    C. Semini, H. Khan, M. Frigerio, T. Boaventura, M. Focchi, J. Buchli and D. G. Caldwell, "Design and Scaling of Versatile Quadruped Robots", Int. Conf. on Climbing and Walking Robots (CLAWAR), 2012.

    2:18 - 2:46
    T. Boaventura, C. Semini, J. Buchli, M. Frigerio, M. Focchi, D. G. Caldwell, "Dynamic Torque Control of a Hydraulic Quadruped Robot", IEEE International Conference on Robotics and Automation (ICRA), 2012.

    2:47 - 2:58
    T. Boaventura, G.A. Medrano-Cerda, C. Semini, J. Buchli, D. G. Caldwell, "Stability and Performance of the Compliance Controller of the Quadruped Robot HyQ," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.

    2:59 - 3:19
    M. Focchi, et al. 2014 (under review)

    Perception system:
    S. Bazeille, et al. 2014 (under review)

    Software: efficienct code generation for the simulation and real-time control of robots with arms and legs:
    M. Frigerio, J. Buchli and D. G. Caldwell, "A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms", 2nd International Workshop on Domain-Specific Languages and models for ROBotic systems (DSLRob'11), San Francisco, September 2011.

    Hardware details:
    C. Semini, "HyQ -- Design and Development of a Hydraulically Actuated Quadruped Robot," Dissertation, Istituto Italiano di Tecnologia and University of Genoa, Italy, 2010.

    and

    C. Semini, N. G. Tsagarakis, E. Guglielmino, M. Focchi, F. Cannella, and D. G. Caldwell, "Design of HyQ - a hydraulically and electrically actuated quadruped robot," Journal of Systems and Control Engineering, vol. 225, no. 6, pp. 831--849, 2011.


    Video editing by M. Focchi, A. Abrusci and C. Semini.

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    HyQ2Max Video Teaser

    Published on May 15, 2015

    This is the first glimpse of the latest robot to emerge from IIT's DLS lab. The development of HyQ2Max has been dedicated to maximising strength, robustness and versatility. This meant adding a far larger joint range than previously seen, a huge increase in the available torque in the joints and, at zero weight cost overall. In short, HyQ2Max is a monster... Stay tuned for new videos coming soon...

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    Design of a Hydraulically Actuated Arm for a Quadruped Robot

    Published on May 15, 2015

    This Paper is under review at the 18th International Conference on Climbing and Walking Robots (CLAWAR).

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    Discovery Channel video HyQ

    Published on Aug 26, 2015

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    Getting HyQ the robot 'disaster ready'

    Published on Nov 11, 2015

    Robotics engineers are developing algorithms to make HyQ, a quadruped robot, into a useful tool in disaster missions. Jim Drury saw it in action.

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    HyQ2Max - the robot you can't keep down

    Published on Dec 29, 2015

    A powerful four-legged robot can get back on its feet after being knocked over; demonstrating the robustness needed for hazardous search and rescue missions. Matthew Stock reports.
    Article "HyQ2Max: the robot you can't keep down"

    by Matthew Stock
    December 29, 2015

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    One-armed HyQ robot can knock obstacles out of its way

    Published on Jan 11, 2016

    The four-legged HyQ-Centaur robot, developed at the Italian Institute of Technology (IIT), has a hydraulic arm that could help it clear obstacles from its path during search and rescue missions. Matthew Stock reports.

  10. #10


    Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots (RSS'17)

    Published on May 23, 2017

    Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots

    Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin G. Caldwell, Claudio Semini, Maurice Fallon

    Robotics: Science and Systems 2017

    Abstract -- In this paper we present a system for the state estimation of a dynamically walking and trotting quadruped. The approach fuses four heterogeneous sensor sources (inertial, kinematic, stereo vision and LIDAR) to maintain an accurate and consistent estimate of the robot’s base link velocity and position in the presence of disturbances such as slips and missteps. We demonstrate the performance of our system, which is robust to changes in the structure and lighting of the environment, as well as the terrain over which the robot crosses. Our approach builds upon a modular inertial-driven Extended Kalman Filter which incorporates a rugged, probabilistic leg odometry component with additional inputs from stereo visual odometry and LIDAR registration. The simultaneous use of both stereo vision and LIDAR helps combat operational issues which occur in real applications. To the best of our knowledge, this paper is the first to discuss the complexity of consistent estimation of pose and velocity states, as well as the fusion of multiple exteroceptive signal sources at largely different frequencies and latencies, in a manner which is acceptable for a quadruped’s feedback controller. A substantial experimental evaluation demonstrates the robustness and accuracy of our system, achieving continuously accurate localization and drift per distance traveled below 1 cm/m.

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