Quadruped Robot Design Papers

HyQ (2011, Proc. IMechE Part I: Journal of Systems and Control Engineering): Design of HyQ – a Hydraulically and Electrically Actuated Quadruped Robot [Paper] [Video]
StarlETH (2012, CLAWAR 2012): StarlETH: A Compliant Quadrupedal Robot for Fast, Efficient, and Versatile Locomotion [Paper] [Videos / Robot Page]
MIT Cheetah (2013, ICRA 2013): Design Principles for Highly Efficient Quadrupeds and Implementation on the MIT Cheetah Robot [Paper]
XDog (2014, MEIC 2014): Mechanical Design of a Modular Quadruped Robot – XDog [Paper]
MIT Super Mini-Cheetah (2015, ICRA 2015): The MIT Super Mini Cheetah: A small, low-cost quadrupedal robot for dynamic locomotion [Paper]
ANYmal Robot (2016, IROS 2016): ANYmal - A Highly Mobile and Dynamic Quadrupedal Robot [Paper] [Video]
MiniTaur (2016, ICRA 2016): Design Principles for a Family of Direct-Drive Legged Robots [Paper] [Video / Article]
HyQ2Max (2017, IEEE/ASME Transactions on Mechatronics, 22(2)): Design of the Hydraulically Actuated, Torque-Controlled Quadruped Robot HyQ2Max [Paper] [Official Lab Channel]
UIUC Panther (2018, ICRA 2018): Design and experimental implementation of a quasi-direct-drive leg for optimized jumping [Paper]
MIT Cheetah-3 (2019, IROS 2019): MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot [Paper]
MIT Mini Cheetah (2019, ICRA 2019): Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control [Paper] [Video] [Blog] [Gear-width-Calc]
Stanford Doggo (2019, ICRA 2019): Stanford Doggo, an open source quasi-direct drive quadruped [Paper] [Video] [GitHub]
Stoch, IISc (2019, ICRA 2019): Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch [Paper] [Video]
Solo Robot (2020, ICRA 2020): An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research [Paper] [Video / Project Page]
PADWQ (2021, Applied Sciences, 11(9)): Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot [Paper]
Tachyon, Sony (2021, IROS 2021): Tachyon: Design and Control of High Payload, Robust, and Dynamic Quadruped Robot with Series-Parallel Elastic Actuators [Paper]
KAIST HOUND (2022, ICRA 2022): Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train [Paper] [Video]
Kirin (2022, International Journal of Mechanical Sciences, Vol. 235): Prismatic Quasi-Direct-Drives for Dynamic Quadruped Locomotion with High Payload Capacity [Paper] [Video]
Barry Robot (2023, ICRA 2023): Barry: A High-Payload and Agile Quadruped Robot [Paper]
Raibo Robot, KAIST (2023, News / KAIST): RaiBo: A versatile robo-dog that runs through a sandy beach at 3 meters per second [News Article] [Video]
Raibo2 Robot, KAIST (2025, Research Square preprint): RAIBO2: Highly efficient quadruped robot completing full marathon with a single battery charge [Paper] [Video]
Stoch-3, IISc, Bengaluru (2025, arXiv / AIR): A Chain-Driven, Sandwich-Legged Quadruped Robot: Design and Experimental Analysis [ArXiv Paper] [Video]
LIGHTDOG (2025, The International Journal of Robotics Research): Design of LIGHTDOG: A high payload-to-weight, hose-less hydraulic quadrupedal robot [Paper]