HyQ - Robot Details, Use Case and Specifications

HyQ

Hydraulically actuated, torque-controlled quadruped robot designed for dynamic motion and rough terrain, continually improved with autonomous onboard power and ruggedization since 2011.

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Made by

Fondazione Istituto Italiano di Tecnologia (Italian Institute of Technology)

Software Type

Closed Source

Software Package

Xenomai Linux real-time OS with custom simulation and control software. Torque control and compliance algorithms. Path planning and force-based foothold adaptation.

Actuators

Eight hydraulic cylinders managed by high-performance servovalves. Four brushless DC motors with harmonic drives.

Compiute

PC104 computer stack with Pentium CPU board. Real-time control at high update rates.

Sensors

Stereo vision cameras. Laser range finders. Inertial Measurement Unit (IMU). Load cells and high-resolution encoders on joints.

Max Op. time

mins

Pricing

Not provided.

Robot Brief

HyQ is a hydraulically actuated, torque-controlled quadruped robot developed by the Department of Advanced Robotics at the Italian Institute of Technology (IIT), led by Claudio Semini. Since its introduction around 2011, the robot has been a pioneering platform for research into dynamic legged locomotion, capable of both precise and highly dynamic motions such as running, jumping, and reacting to environmental disturbances. Successor versions like HyQ2Max and HyQReal have improved on ruggedness, power autonomy (integrated hydraulics and battery), and energy efficiency, with the latest iteration capable of pulling a 3-ton airplane. HyQ serves as an experimental platform for testing advanced control strategies, compliant actuation, and complex planning on rough and dynamic terrains.

Use Cases

Dynamic Locomotion: Can walk, trot, jump over obstacles, squat jump, and recover from falls with highly dynamic motion control.
Active Compliance: Uses torque control to actively adjust joint stiffness and damping without mechanical springs.
Versatile Terrain Handling: Negotiates rough terrain including stepping stones, pallets, and unperceived obstacles.
Self-Righting and Resiliency: Newer models have improved self-righting capabilities and can sustain rugged usage.
Power Autonomy: Latest models integrate full hydraulic power systems with onboard lithium-polymer batteries for untethered operation.

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Industries

Research: A highly flexible platform for legged robot locomotion, control algorithms, and biomechanics.
Disaster Response: Potential applications in search and rescue, hazardous environment exploration, and nuclear site clean-up.
Agriculture & Forestry: Field robotics for monitoring and maintenance in challenging terrains.
Manufacturing & Inspection: Autonomous inspection tasks in unstructured environments.

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Specifications

Length

1000

Width

500

Height (ResT)

Height (Stand)

980

Height (Min)

Height (Max)

Weight (With Batt.)

100

Weight (NO Batt.)

Max Step Height

200

Max Slope

+/-

Op. Temp (min)

°C

Op. Temp (Max)

°C

Ingress Rating

No items found.

Intro

HyQ measures approximately 1.0 m (L) x 0.5 m (W) x 0.98 m (H) and weighs about 70 kg (tethered version) or 100 kg (with onboard hydraulics and battery). It features 12 active degrees of freedom with 3 actuated joints per leg powered by a combination of hydraulic servovalves and brushless DC motors with harmonic drives. The robot has a robust mechanical design with aluminum alloy and stainless steel structure to withstand demanding operational conditions. Its sensing suite comprises stereo cameras, laser rangefinders, inertial measurement units (IMU), load cells in joints, and joint encoders. The onboard control computes real-time locomotion control under a Linux real-time OS offering highly precise and adaptable movements.

Connectivity

Onboard PC104 embedded computer platform.
Integration of various sensor data for navigation and control.
Supports real-time communication with external systems.

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Capabilities

High Force Output: Peak torque ~145 Nm in hydraulics; electric motors with ~140 Nm.
Joint Range of Motion: About 120° per joint.
Maximum Speed: Typical running speed up to ~6.5 km/h (trot gait).
Jumping Ability: Capable of jumps exceeding 20 cm in height.
Advanced Sensors: Able to perceive environment for planning and feedback.
Onboard Computation: Real-time control with PC104 computing platform.
Active Variable Compliance: Software-tuned compliance within hydraulic actuation system.

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