Articulated Locomotion and Manipulation for ANYmal

We present a motion planning and control framework for ANYmal, a torque-controlled quadrupedal robot equipped with a six degrees of freedom robotic arm capable of performing dynamic locomotion while executing manipulation tasks. The online motion planning framework, together with a whole-body control based on a hierarchical optimization algorithm, enable the system to walk, trot and pace while executing tasks such as fixed-position end-effector control, reactive human-robot collaboration and torso posture o