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Changes for page ANYmal Robot

Last modified by Mark Rinse van Koningsveld on 2025/09/02 12:53
From version 4.1
edited by Mark Rinse van Koningsveld
on 2025/09/02 12:53
Change comment: There is no comment for this version
To version 1.1
edited by Tjalling Haije
on 2025/06/04 10:38
Change comment: Imported from XAR

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1 -ANYmal Robot
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1 -XWiki.MarkVanKoningsveld
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1 -The ANYmal Robot is a highly versatile quadrupedal robot designed for navigating and performing tasks in challenging environments. Developed by the Robotic Systems Lab at ETH Zurich, ANYmal combines advanced locomotion capabilities with a modular design that allows it to be equipped with various sensors and tools. It can dynamically run, climb, and even perform parkour-like movements, making it ideal for operations in rough terrains such as industrial sites, mines, and disaster zones. ANYmal’s body is lightweight yet robust, being water- and dust-proof (IP67 rated), and it can withstand falls from up to 0.5 meters. Equipped with LIDAR, stereo, and wide-angle cameras, it has comprehensive environmental perception capabilities, allowing it to navigate autonomously. The robot operates for 2-4 hours on a single charge and can autonomously dock for recharging. The hardware architecture is highly extendable, accommodating additional payloads such as robotic arms or specific sensors [[ANYbotics>>url:https://www.anybotics.com/news/advancing-legged-robotics-research/]] [[ScienceDaily>>url:https://www.sciencedaily.com/releases/2024/03/240313185058.htm]] [[Research Features>>url:https://researchfeatures.com/anymal-unique-quadruped-robot-conquering-harsh-environments/]]).
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3 -. Also see [[the website>>https://rsl.ethz.ch/robots-media/anymal.html]].
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5 -* **4 Intel Realsense D435 RGB-D Cameras**: Primarily used for local navigation and terrain assessment.
6 -* **16-Beam Velodyne LiDAR**: Provides 3D mapping and obstacle detection.
7 -* **Force-Torque Sensors**: Installed in the robotic arm for precise manipulation tasks.
8 -* **Multi-Sensor Fusion**: Integrates data from IMUs, cameras, and LiDAR to ensure stable and accurate localization even in GPS-denied environments.
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10 -ANYmal’s modular design allows it to be equipped with a robotic arm for manipulation tasks, such as opening doors or moving debris, with a payload capacity of up to 7 kg. In search and rescue (SAR) scenarios, ANYmal can autonomously explore, map, and interact with the environment to support human responders, offering real-time data through a wireless network. Additionally, it can be teleoperated using a 6DoF joystick, with data visualized on a 3D screen, making it a versatile tool in dynamic SAR operations.
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12 -=== Interview insights ===
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14 -Field teams prefer **robots first, then humans** where practicable; the robot can verify ambiguous detections, check voids, and pre-mark hazards before entry. Operators stressed a **split between control and analysis**: one person supervises locomotion/mode management, another verifies imagery and places markers with confidence and rationale. To fit work rhythms, setup happens at the **BoO**, with **just-in-time activation** at the worksite; handovers (e.g., after a battery swap or link drop) must be explicit, with a clear **“resume from last waypoint”** option. Avoid blocking access routes and ensure the robot’s thermal/noise signature does not interfere with communication or victim detection.