ANYmal Research is a community to advance legged robotics.

ANYmal D legged robot side view with payload

ANYmal Robot

ANYmal is a quadrupedal robot designed for autonomous operation in challenging environments. Driven by special precisely torque-controllable actuators, the robot platform is capable of dynamic running and climbing in difficult terrain. Thanks to incorporated LIDAR and depth cameras, ANYmal can perceive its environment, accurately localize itself, autonomously plan its navigation path and carefully select footholds while walking.

ANYmal’s size is optimal in making it able to overcome obstacles and it can carry up to 15 kg additional payload. The platform setup is simple, requiring only one laptop, the robot itself and a battery charger. The onboard battery enables continuous operation for 2–4 hours depending on the activity. ANYmal is designed for real-world usage, is IP67 water- and dust-proof and the ruggedized enclosure protects the system from impacts.

ANYmal Researchers

The ANYmal Research community develops and shares software and other information to improve and extend ANYmal’s capabilities. ANYmal Researchers build up on the robotic framework developed and maintained by ETH Zurich and ANYbotics. Community members have full access to ANYmal’s control software, simulation, documentation, and community support. ANYmal Researchers are free to publish, open-source and share their results with other community members, while keeping the full rights on their work.

ANYmal Simulation

The simulation software for ANYmal enables researchers to validate new approaches and concepts in a fast and flexible way. The simulation framework builds up on Gazebo and is fully ROS-compatible (ANYmal URDF & SDF). It reflects the real robot and includes the simulation of the state estimator, perception sensors, mapping, and localization. This way, ANYmal Researchers can develop complex and integrative algorithms and can directly run their work on the real ANYmal robot. Furthermore, the ANYmal simulation features a rich set of user interfaces and visualization, logging, and debugging tools.