Andreas Lauber

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2011 In memory of my great-great-grandfather Carl Heinrich Främbs who was expelled from ETH in the Bolley incident on July 31 st , 1864. ii Acknowledgments First of all, I would like to thank Roland Siegwart for having me as a PhD student over the past four years and for providing the extremely inspiring en-viroment and all the necessary resources that made(More)
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(More)
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