@article{hutter2017anymal,
  author    = {Hutter, Marco and
               Gehring, Christian and
               Lauber, Andreas and
               Gunther, F and
               Bellicoso, Carmine D and
               Tsounis, Vassilios and
               Fankhauser, P{\'e}ter and
               Diethelm, Remo and
               Bachmann, Samuel and
               Bl{\"o}sch, Michael and
               Kolvenbach, Hendrik and
               Bjelonic, Marko and
               others},
  title     = {ANYmal-toward Legged Robots for Harsh Environments},
  journal   = {Advanced Robotics},
  year      = {2017},
  pages     = {918--931},
  doi       = {10.1080/01691864.2017.1378591},
  abstract  = {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 way for simple
               maintenance and user-friendly handling, while focusing on high
               mobility and dynamic motion capability. The system is tightly
               sealed to reach IP67 standard and protected to survive falls.
               Rotating lidar sensors in the front and back are used for
               localization and terrain mapping and compact force sensors in the
               feet provide accurate measurements about the contact situations.
               The variable payload, such as a modular pan-tilt head with a
               variety of inspection sensors, can be exchanged depending on the
               application. Thanks to novel, compliant joint modules with
               integrated electronics, ANYmal is precisely torque controllable
               and very robust against impulsive loads during running or
               jumping. In a series of experiments we demonstrate that ANYmal
               can execute various climbing maneuvers, walking gaits, as well as
               a dynamic trot and jump. As special feature, the joints can be
               fully rotated to switch between X- and O-type kinematic
               configurations. Detailed measurements unveil a low energy
               consumption of 280 W during locomotion, which results in an
               autonomy of more than 2 h.},
  keywords  = {legged robot, quadruped robot, field robotics,
               series elastic actuation, autonomous navigation},
  url_pdf   = {files/2017_advanced_robotics_hutter.pdf},
  url_link  = {https://doi.org/10.1080/01691864.2017.1378591},
}

{"_id":"FQGHCWgyiBdejFD5W","bibbaseid":"hutter-gehring-lauber-gunther-bellicoso-tsounis-fankhauser-diethelm-etal-anymaltowardleggedrobotsforharshenvironments-2017","downloads":6,"creationDate":"2018-10-15T11:03:56.310Z","title":"ANYmal-toward Legged Robots for Harsh Environments","author_short":["Hutter, M.","Gehring, C.","Lauber, A.","Gunther, F","Bellicoso, C. D","Tsounis, V.","Fankhauser, P.","Diethelm, R.","Bachmann, S.","Blösch, M.","Kolvenbach, H.","Bjelonic, M.","others"],"year":2017,"bibtype":"article","biburl":"https://www.markobjelonic.com//publications/bibliography.bib","bibdata":{"bibtype":"article","type":"article","author":[{"propositions":[],"lastnames":["Hutter"],"firstnames":["Marco"],"suffixes":[]},{"propositions":[],"lastnames":["Gehring"],"firstnames":["Christian"],"suffixes":[]},{"propositions":[],"lastnames":["Lauber"],"firstnames":["Andreas"],"suffixes":[]},{"propositions":[],"lastnames":["Gunther"],"firstnames":["F"],"suffixes":[]},{"propositions":[],"lastnames":["Bellicoso"],"firstnames":["Carmine","D"],"suffixes":[]},{"propositions":[],"lastnames":["Tsounis"],"firstnames":["Vassilios"],"suffixes":[]},{"propositions":[],"lastnames":["Fankhauser"],"firstnames":["Péter"],"suffixes":[]},{"propositions":[],"lastnames":["Diethelm"],"firstnames":["Remo"],"suffixes":[]},{"propositions":[],"lastnames":["Bachmann"],"firstnames":["Samuel"],"suffixes":[]},{"propositions":[],"lastnames":["Blösch"],"firstnames":["Michael"],"suffixes":[]},{"propositions":[],"lastnames":["Kolvenbach"],"firstnames":["Hendrik"],"suffixes":[]},{"propositions":[],"lastnames":["Bjelonic"],"firstnames":["Marko"],"suffixes":[]},{"firstnames":[],"propositions":[],"lastnames":["others"],"suffixes":[]}],"title":"ANYmal-toward Legged Robots for Harsh Environments","journal":"Advanced Robotics","year":"2017","pages":"918–931","doi":"10.1080/01691864.2017.1378591","abstract":"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 way for simple maintenance and user-friendly handling, while focusing on high mobility and dynamic motion capability. The system is tightly sealed to reach IP67 standard and protected to survive falls. Rotating lidar sensors in the front and back are used for localization and terrain mapping and compact force sensors in the feet provide accurate measurements about the contact situations. The variable payload, such as a modular pan-tilt head with a variety of inspection sensors, can be exchanged depending on the application. Thanks to novel, compliant joint modules with integrated electronics, ANYmal is precisely torque controllable and very robust against impulsive loads during running or jumping. In a series of experiments we demonstrate that ANYmal can execute various climbing maneuvers, walking gaits, as well as a dynamic trot and jump. As special feature, the joints can be fully rotated to switch between X- and O-type kinematic configurations. Detailed measurements unveil a low energy consumption of 280 W during locomotion, which results in an autonomy of more than 2 h.","keywords":"legged robot, quadruped robot, field robotics, series elastic actuation, autonomous navigation","url_pdf":"files/2017_advanced_robotics_hutter.pdf","url_link":"https://doi.org/10.1080/01691864.2017.1378591","bibtex":"@article{hutter2017anymal,\n author = {Hutter, Marco and\n Gehring, Christian and\n Lauber, Andreas and\n Gunther, F and\n Bellicoso, Carmine D and\n Tsounis, Vassilios and\n Fankhauser, P{\\'e}ter and\n Diethelm, Remo and\n Bachmann, Samuel and\n Bl{\\\"o}sch, Michael and\n Kolvenbach, Hendrik and\n Bjelonic, Marko and\n others},\n title = {ANYmal-toward Legged Robots for Harsh Environments},\n journal = {Advanced Robotics},\n year = {2017},\n pages = {918--931},\n doi = {10.1080/01691864.2017.1378591},\n abstract = {This paper provides a system overview about ANYmal, a quadrupedal\n robot developed for operation in harsh environments. The 30 kg,\n 0.5 m tall robotic dog was built in a modular way for simple\n maintenance and user-friendly handling, while focusing on high\n mobility and dynamic motion capability. The system is tightly\n sealed to reach IP67 standard and protected to survive falls.\n Rotating lidar sensors in the front and back are used for\n localization and terrain mapping and compact force sensors in the\n feet provide accurate measurements about the contact situations.\n The variable payload, such as a modular pan-tilt head with a\n variety of inspection sensors, can be exchanged depending on the\n application. Thanks to novel, compliant joint modules with\n integrated electronics, ANYmal is precisely torque controllable\n and very robust against impulsive loads during running or\n jumping. In a series of experiments we demonstrate that ANYmal\n can execute various climbing maneuvers, walking gaits, as well as\n a dynamic trot and jump. As special feature, the joints can be\n fully rotated to switch between X- and O-type kinematic\n configurations. Detailed measurements unveil a low energy\n consumption of 280 W during locomotion, which results in an\n autonomy of more than 2 h.},\n keywords = {legged robot, quadruped robot, field robotics,\n series elastic actuation, autonomous navigation},\n url_pdf = {files/2017_advanced_robotics_hutter.pdf},\n url_link = {https://doi.org/10.1080/01691864.2017.1378591},\n}\n\n","author_short":["Hutter, M.","Gehring, C.","Lauber, A.","Gunther, F","Bellicoso, C. 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