Since 2011, HyQ has been extensively tested in the laboratory on a custom, large-scale treadmill and in an outdoor test site. The robot has demonstrated various gaits and motions ranging from highly dynamic motions like running and jumping to careful walking over rough terrains. The robot uses a trotting gait with reflex and balancing skills on flat or moderately rough terrain. On more difficult terrains, the robot uses a crawling gait that allows to carefully put the foot on suitable spots. HyQ is one of very few robots in the world that have demonstrated such a wide repertoire of behaviors. A copy of HyQ has been sold to ETH Zurich in the summer of 2013. IIT and ETH Zurich have strong research collaborations in the fields of robot modelling, control and machine learning.
Legged robots are vehicles with the potential to replace humans in dangerous and dirty tasks where vehicles with wheels and tracks cannot go. Possible applications are disaster recovery (such as the clean-up of the Fukushima nuclear power plant), search and rescue, forestry technology and construction.
HyQ is a fully torque-controlled Hydraulically actuated Quadruped robot (pronounced [hai-kju:]) developed in the Department of Advanced Robotics at the IIT. HyQ is designed to move over rough terrain and perform highly dynamic tasks such as jumping and running with different gaits (up to 3-4m/s). To achieve the required high joint speeds and torques, hydraulic actuators are powering the robot’s 12 active joints. For more information on the robot scroll down or refer to (Semini, 2010).
Goals of the project are the design of versatile robots, the investigation of various aspects of quadrupedal locomotion, adjustable compliance, energy efficiency, compact hydraulic actuation and onboard power systems.