NEW
Figure AI's Helix Can Now do Laundry Pretty Good
ArticlesRobotsCompaniesCountries
Contribute
Enquire about Robot

Simply fill up the form, our team will then reach out to you to connect to the relevant parties who can help facilitate your request.

Brand & Model
All fields required. Refer to our privacy policy for questions.
Thank you! Your submission has been received!
Oops! Something went wrong while submitting the form.
HomeRobots
StarlETH

StarlETH

StarlETH is a 23kg compliant quadruped from ETH Zurich with energy-efficient elastic actuators enabling agile, autonomous walking and running on rough terrains.
Enquire about robot
Specifications
Dev Doc
Website
Made by
Robotics Systems Lab (RSL), ETH Zurich
Software Type
Closed Source
Software Package
Real-time control software supporting torque control, hierarchical task-space inverse dynamics, and motion planning. Simulation environment tightly integrated with hardware for control algorithm development. Experimental locomotion controllers implementing stable walking, trotting, and maneuvers under external disturbances.
Actuators
Highly compliant series elastic actuators (12 total, 3 per leg) incorporating mechanical springs decoupling motor and gearbox from joint, enabling torque control with energy storage.
Compiute
Onboard computation supporting real-time feedback control based on inertial and kinematic sensors; specific processor details are not publicly specified.
Sensors
StarlETH employs an inertial measurement unit (IMU) together with high-precision joint encoders for all legs. This sensory fusion provides accurate state feedback for orientation, balance, and joint position, enabling autonomous locomotion without the need for external perception systems.
Max Op. time
mins
Research
Switzerland
Quadrupedal
2012
Pricing
Not provided.

Robot Brief

StarlETH is a compliant quadrupedal robot developed by the Autonomous Systems Lab at ETH Zurich, designed to study and demonstrate fast, efficient, and versatile legged locomotion. It integrates highly compliant series elastic actuators that mimic the mechanical properties of muscles and tendons, allowing energy storage and release for efficient movement. The lightweight robot, weighing approximately 23 kg and about the size of a medium dog, balances speed, robustness, and efficiency. It can walk, trot, climb, and run over varied terrain at speeds up to roughly 2 km/h autonomously. The modular design and advanced torque control enable dynamic maneuvers and high-fidelity joint actuation. StarlETH targets applications in inspection of industrial or hazardous sites, search and rescue, security, and entertainment.

Use Cases

  • Efficient Locomotion: Uses compliant series elastic actuators for energy-efficient walking and running.
  • Dynamic Maneuverability: Capable of walking, trotting, climbing obstacles, and adapting gait dynamically.
  • High-Fidelity Torque Control: Enables precise joint actuation allowing robust and stable motion under disturbances.
  • Lightweight & Modular: Compact size (~0.5 m body length) and weight (~23 kg) for easy handling and deployment.
  • Autonomous Operation: Equipped with onboard sensors and control to perform maneuvers precisely without external perception systems.
  • Versatile Terrain Adaptation: Traverses rough and uneven surfaces using a mammalian leg joint configuration.

‍

Industries

  • Industrial Inspection: Autonomous patrol and monitoring in complex or hazardous industrial environments.
  • Search & Rescue: Capable of navigating disaster zones and rough terrain for victim location and assessment.
  • Security & Surveillance: Mobility suitable for patrolling and surveillance in challenging terrains.
  • Entertainment & Research: Used as a research platform for robotics studies and demonstrations of advanced locomotion.

‍

Specifications

Length
-
500
mm
Width
-
mm
Height (ResT)
-
mm
Height (Stand)
-
mm
Height (Min)
mm
Height (Max)
mm
Weight (With Batt.)
-
23
kg
Weight (NO Batt.)
-
kg
Max Step Height
-
mm
Max Slope
+/-
-
°
Op. Temp (min)
-
°C
Op. Temp (Max)
-
°C
Ingress Rating
-
No items found.

Intro

StarlETH is a fully actuated quadrupedal robot with four identical legs arranged in an X-configuration mounted on a rigid torso approximately 0.5 meters long. Each leg has three degrees of freedom arranged like mammalian hips and knees, enabling naturalistic, flexible leg movements including full extension and retraction. The robot uses 12 series elastic actuators with compliant elements designed to emulate muscle-tendon systems, allowing torque control and temporary energy storage. Its mechanical springs protect gears from impact, improve efficiency, and enable high torque fidelity. The robot's lightweight construction (~23 kg) focuses actuator placement on the torso for reduced leg inertia and faster leg swing. Onboard inertial measurement units and precise joint encoders provide accurate state estimation, enabling autonomous gait execution without external sensors or motion capture.

Connectivity

  • Onboard sensors including IMU and joint encoders provide data for state estimation.
  • Communications protocols for control and telemetry not explicitly detailed, but designed for integration with real-time control systems and research interfaces.

‍

Capabilities

  • Series Elastic Actuation: Provides compliance similar to biological systems for impact resistance, energy recycling, and precise torque control.
  • Fast Leg Swing: Lightweight legs and torso-mounted actuators allow quick leg motion for dynamic walking and running.
  • Adaptive Locomotion: Stable walking and trotting gaits adaptable to environmental disturbances.
  • Self-Stabilization: Uses IMU and proprioceptive feedback for maintaining balance on uneven terrains.
  • Versatile Limb Kinematics: Mammalian joint arrangement supports large leg motion ranges for obstacle negotiation.

‍