The Dynamic Legged Systems focuses on research that concerns the design and control aspects of agile legged robots.

We are interested in the development of legged robotic systems, chiefly quadrupeds, and we are investigating ways that can increase flexibility and performance of legged designs. Apart from developing agile quadruped robots we emphasize the need for accurate and robust control, ranging from the level of individual joints up to the overall behavior of the legged robot.

Apart from accurate hydraulic force/torque control at the joint level we are investigating ways of creating and using a variety of different locomotion gaits, that are robust to external disturbances and changing environmental conditions. A significant part of our groups' effort is devoted to perception tailored to dynamic quadrupedal robots. This becomes important as robots take their first steps outside controlled lab environments and into real-life applications.

Our flagship platform is the Hydraulic Quadruped robot HyQ. Since its construction in 2010, HyQ demonstrated a wide repertoire of motions ranging from stair climbing, chimney climbing, omnidirectional trotting over rough terrain, trotting with step reflexes, to flying trotting and jumping.

Our latest generation quadruped HyQReal has been released May 2019 and will in time be replacing HyQ as our main platform for research.


The DLS lab has state-of-the-art facilities to develop, build and test hydraulic robots and their components. We currently have several quadruped robots (two HyQs, a HyQ2Max, a MiniHyQ and a HyQReal), two hydraulic arms and several leg prototypes. Our indoor lab space comprises hydraulic pump units, test benches, a motion capture system, a large-scale treadmill, a force plate, a high-speed camera, etc.

Our outdoor lab space consists of a 25m race track with overhead rail and various types of obstacles.

The Moog@iit joint lab is part of the DLS lab.


Dynamic Legged Systems lab has multiple ongoing project as well as succesfully finished projects. Below all of these are listed. For more information visit the projects page or click on the links that you're most interested in from the list below:

Active Collaborations

Former Collaborations