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ANYmal

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.

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

WEBSITE

https://www.anybotics.com/anymal/