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 …

There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

Intelligence of physical agents, such as human-made (eg, robots, autonomous cars) and
biological (eg, animals, plants) ones, is not only enabled by their computational intelligence …

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

Robotic technologies, whether they are remotely operated vehicles, autonomous agents,
assistive devices, or novel control interfaces, offer many promising capabilities for …

We present a new open-source torque-controlled legged robot system, with a low-cost and
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …

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 presents the design of the hydraulically actuated quadruped robot HyQ2Max.
HyQ2Max is an evolution of the 80 kg agile and versatile robot HyQ. Compared to HyQ, the …

This paper presents the design and implementation of a bounding controller for the MIT
Cheetah 2 and its experimental results. The paper introduces the architecture of the …

This paper presents the recent advancements in the control of multiple-degree-of-freedom
hydraulic robotic manipulators. A literature review is performed on their control, covering …