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HyQ

Details

HyQ is a four-legged robot built as a platform to study quadrupedal locomotion. It can walk over obstacles, trot and rear like a horse, squat jump, and even kick things with its powerful hydraulic legs.

Creator
Italian Institute of Technology (IIT)
Country
Italy 🇮🇹
Year
2011
Type
Research
Creator
Italian Institute of Technology (IIT)
Country
Italy 🇮🇹
Year
2011
Type
Research

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Did You Know?

HyQ stands for hydraulic quadruped.
HyQ's creators plan to add a pair of manipulator arms to the robot, in effect transforming it into a robotic Centaur.
HyQ has its own special heavy-duty treadmill for running experiments.

Specs

FEATURES
Equipped with torque-controlled legs with variable stiffness. Able to jump more than 20 cm (7.8 in) up in the air and land on its feet.
HEIGHT
100 cm | 39.4 in (fully extended legs)
LENGTH
100 cm | 39.4 in
WIDTH
50 cm | 19.7 in
WEIGHT
70 kg | 154.3 lb
SPEED
6.5 km/h | 4 mph

SENSORS
Stereo cameras, laser range finder, IMU, force-torque sensors and high-resolution encoders in each joint.
ACTUATORS
Eight hydraulic cylinders controlled by high-performance servovalves. Four brushless DC motors with harmonic drive gears.
POWER
Tethered
COMPUTING
PC/104 embedded computer with data acquisition boards.
SOFTWARE
Xenomai Linux real-time OS with SL simulation and control software package.
DEGREES OF FREEDOM (DOF)
12 (Leg: 3 DoF x 4)
MATERIALS
Torso and legs made of aerospace-grade aluminum alloy and stainless steel.
COST
$1.2 million (development cost)
STATUS
Ongoing
WEBSITE
http://www.iit.it/en/advanced-robotics/hyq.html