Table 1 Specifications of HyQ2Max and HyQReal [11, 15, 16]

Weight (kg)

80

130

Length × width × height (m)

1.306 × 0.544 × 0.918

1.33 × 0.67 × 0.9

DOFs of leg

3

3

Ranges of HAA, HFE, and KFE (°)

80, 270, 165

–

Torques of HAA, HFE, and KFE (N·m)

120, 245, 250

165, 200, 225

Upper, lower leg segment lengths (m)

0.36, 0.38

0.36, 0.38

Maximum speed (m/s)

1.5

–

Computers

–

2, Vision & control

Hydraulic pumps

–

2, Front & hind legs

Perception

–

Lidar, RGB-D