Probably The Most Versatile Quadruped Robot: HyQ

The versatile quadruped robot HyQ demonstrates its motion skills that range from planned motion over uneven terrain to highly dynamic motions. Some of the highlights are: chimney climbing, lateral disturbances by 23kg boxing bag, planned motion over stepping stones and pallets, and a flying trot. All experiments are executed on the same machine. There are no physical springs in the legs or body of HyQ, all compliance results from active adjustment of stiffness and damping (by software). The high-performance