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ANYmal

Details

ANYmal is a rugged, autonomous four-legged robot designed for inspection and manipulation tasks. It uses sensors to scan the terrain and avoid obstacles, and can operate in rain, snow, wind, waterlogged rooms, and dusty environments.

Creator
ETH Zurich and ANYbotics
Country
Switzerland πŸ‡¨πŸ‡­
Year
2016
Type
Industrial, Research, Disaster Response
Creator
ETH Zurich and ANYbotics
Country
Switzerland πŸ‡¨πŸ‡­
Year
2016
Type
Industrial, Research, Disaster Response

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Specs

FEATURES
Able to run dynamically and safely climb over obstacles and stairs. Equipped with foothold selection based on online terrain mapping. Payload of up to 10 kilograms. Accessories include environmental sensors and manipulators. Ruggedized design and fully waterproof and dustproof (IP67). Actuator design allows full rotation of the legs for climbing, and change of leg configuration allows to crawl through tight spaces.
HEIGHT
70 cm | 27.5 in
LENGTH
80 cm | 31 in
WIDTH
40 cm | 15.7 in
WEIGHT
30 kg | 66 lb
SPEED
3.6 km/h | 2.2 mph

SENSORS
Position and torque sensing in all joints. Inertial measurement unit (IMU) in torso and all actuators. Stereo camera for terrain perception. Lidar for navigation. Microphone. Temperature sensors. Optional sensor head: 30x zoom camera with active light, thermal camera, ultrasound microphone, and gas sensor.
ACTUATORS
12 electric series elastic actuators (ANYdrive), with a peak power of 720 watts and robust against impact, water and dust. Hollow-shaft for maximal range of motion. Fully integrated controllers with high-frequency control of the joints with communication over EtherCAT.
POWER
Swappable lithium-ion battery pack, 2 to 4 hours of operation
COMPUTING
Three Intel i7 dual-core processors. One processor for real-time locomotion control, one processor for navigation, and one processor for task-specific application software (e.g. inspection). Custom controller for each joint (integrated in ANYdrive).
SOFTWARE
Ubuntu Linux OS, custom framework for planning, control, localization, and navigation built on ROS, range of APIs for C++, and Python control applications.
DEGREES OF FREEDOM (DOF)
12
MATERIALS
Carbon fiber, aluminum, foam protectors, 3D-printed parts
COST
N/A
STATUS
Ongoing
HISTORY
WEBSITE
https://www.anybotics.com/anymal/