Motion Planning and Control for the ANYmal C Robot

Remote Inspection on difficult terrain

ANYmal C is a quadruped robot able to walk over difficult terrain and over many kinds of surfaces such as gravel, grass and mud. It presents a rugged design with IP67 ingress protection rating for safe waterproof operation. In addition to its embedded sensors the robot can carry an additional 10kg payload, which can be used to place extra equipment such as an infrared camera, a radiation sensor or a small robotic arm. Through RAIN the Dynamic Robot Systems (DRS) laboratory develops new locomotion algorithms that improve the versatility of ANYmal C and allow it to take decisions in autonomy such as where to place its feet to overcome large obstacles or in which directions it should move in order to map the environment and explore new unknown areas. This is achieved thanks to the group’s expertise in the fields of machine learning, control and perception.


  • Battery life: ~2h.
  • Operating system: Ubuntu with ROS.
  • Level of automation: Remote controlled or way point following.
  • Maximum locomotion speed: 1m/s.
  • Integrated sensors: Joint encoders, joint-torque sensors, IMU, Lidar, cameras, depth sensors. Protection rating: IP67

This video shows the new quadruped robot of the DRS group walking on the online generated elevation map while re-planning its body motion (both pose and orientation), contact forces and footholds online in a receding-horizon fashion. This experiment belongs to a larger effort in which DRS is developing motion planners and controllers to enable agile locomotion across complex terrain.”


ANYmal C (and its older version ANYmal B) have been tested on a number of different sites including sewers, mines or industrial sites. The main test sites regularly used by the Oxford DRS team are:

  • The Fire Service College (London Rd, Moreton-in-Marsh GL56 0RH).
  • The Corsham Mine.