ROS Software Maintainer: PAL Robotics

Kangaroo is a bipedal research platform for exploring advanced control methods for legged locomotion. The robot is lightweight with low moving inertia in the legs and is suitable for highly dynamic motion such as jumping and running. Each leg has 6 degrees of freedom, and a mass of 12.5 kg mostly located in the upper part so that the mechanical design allows for impact resilience and reduced energy consumption.

For questions regarding the public simulation of the robot please write to support@pal-robotics.com .

If you wish to know more or request a quote, please send us a message or refer to the product microsite

Robot design

Kangaroo incorporates custom linear actuators with integrated force sensors which provide a large range of motion as well as high speed and torques at the joints. The innovative design has taken advantage of nonlinear linkage mechanisms to place all the actuators close to the trunk, making Kangaroo closer to classical template models. The non-linear transmission parameters have been optimised to achieve the necessary speeds and torques for jumping but require only low power whilst standing and walking.

Leg length actuator

One of the key novelties of Kangaroo is the actuation system for the extension and contraction of the leg that is implemented with only one motor, in opposition to other robots that use multiple actuators at the hip, knee, and ankle. Another benefit of Kangaroo leg architecture is the decoupling of the leg length and hip swing motions that makes the system highly efficient.

Leg testbench jumping

Advanced motor control technology

Kangaroo uses a new generation of in-house electronics for motor control and sensor acquisition, which allow embedding custom controllers and implement local high bandwidth current, velocity, position, and torque/force control.


Kangaroo workspace

Kangaroo squatting motion

Trajectory optimization

Optimized trajectories using CasADi

run_forward_2.gif acrobatic_combination.gif rotation.gif acrobatic_pitch.gif run_in_place.gif run_backward.gif


Prototyping fast and agile motions for legged robots with Horizon

On the Hardware Design and Control Architecture of the Humanoid Robot Kangaroo

Horizon: A Trajectory Optimization Framework for Robotic Systems

PAL Robotics GitHub organization

Wiki: Robots/Kangaroo (last edited 2022-12-12 16:04:56 by AdriàRoig)