Legged Robot ANYmal Climbing Stairs in Zurich

Fully autonomous climbing of stairs in Zurich on a rainy day. The shown perception-based motion planning of the robot is based on: Fankhauser, P., Bjelonic, M., Takahiro, T., Bellicoso, C. D., and Hutter, M. (2018). “Robust Rough-Terrain Locomotion with a Quadrupedal Robot”. In: IEEE International Conference on Robotics and Automation (ICRA). This work has been conducted as part of ANYmal Research, a community to advance legged robotics.