ANYmal Robot 

 

The ANYmal bot is a four-legged robot created in a lab at ETH Zurich, a university in Switzerland.

Researchers there recently trained ANYmal to dance — the robot can listen to music, analyze the song's speed, and dance along to the beat.

ANYmal is a quadrupedal robot designed for autonomous operation in challenging environments. Driven by special compliant and precisely torque controllable actuators, the system is capable of dynamic running and high-mobile climbing. Thanks to incorporated laser sensors and cameras, the robot can perceive its environment, accurately localize, and autonomously plan its navigation path and carefully select footholds while walking. ANYmal carries batteries for more than 2 h autonomy and can carry up to 5-10 kg additional payload. With a weight of less than 30 kg, ANYmal can be easily transported and deployed by a single operator. ANYmal is designed for real-world usage and is water- & dust-proof (IP67) and impact robust.

This projects aims towards the design and construction of an energy efficient robotic quadruped that is capable of various dynamic motions including fast walking, trotting, bounding, and galloping. The primary focus is the production of an actual mechanical prototype. The prototype and the associated control strategies will be developed so as to maximize dynamic performance while minimizing energy consumption. In particular, to make the system as energy efficient as possible, we intend to exploit natural, or passive, dynamics in ways that have been the focus of significant previous research and shown themselves to be effective in bipedal robots. The extension of the concept of passive dynamics to quadrupedal robots, and more importantly the actual realization of such a system, has to date received very little attention by other researchers. The principal parts of the project are:
 
Developing simulation capabilities to aid design calculations and evaluate controller performance.
The development of fundamentally new control strategies that incorporate the advantageous haracteristics of passive dynamics into an optimal controller with deadbeat attitude feedback.
Designing, fabricating, and testing a mechanical prototype to evaluate controller stability, robustness, and performance.