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

From: Mechanism, Actuation, Perception, and Control of Highly Dynamic Multilegged Robots: A Review

Specifications HyQ2Max HyQReal
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