This paper introduces ANYmal, a quadrupedal robot that features outstanding mobility and dynamic motion capability. Thanks to novel, compliant joint modules with integrated electronics, the 30 kg, 0.5 m tall robotic dog is torque controllable and very robust against impulsive loads during running or jumping. The presented machine was designed with a focus on outdoor suitability, simple maintenance, and user-friendly handling to enable future operation in real world scenarios. Performance tests with the joint actuators indicated a torque control bandwidth of more than 70 Hz, high disturbance rejection capability, as well as impact robustness when moving with maximal velocity. It is demonstrated in a series of experiments that ANYmal can execute walking gaits, dynamically trot at moderate speed, and is able to perform special maneuvers to stand up or crawl very steep stairs. Detailed measurements unveil that even full-speed running requires less than 280 W, resulting in an autonomy of more than 2 h.

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 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.

Autonomous robotic inspection of industrial sites offers a huge potential with respect to increasing human safety and operational efficiency. The present paper provides an insight into the approach taken by team LIO during the ARGOS Challenge. In this international competition, the legged robot ANYmal was equipped with a sensor head to perform visual, acoustic, and thermal inspection on an oil and gas site. The robot was able to autonomously navigate on the outdoor industrial facilty using rotating line-LIDAR sensors for localization and terrain mapping. Thanks to the superior mobility of legged robots, ANYmal can omni-directionally move with statically and dynamically stable gaits while overcoming large obstacles and stairs. Moreover, the versatile machine can adapt its posture for inspection. The paper additionally provides insight into the methods applied for visual inspection of pressure gauges and concludes with some insight into the general learnings from the ARGOS Challenge.

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