Serval, the last in a line of robot iterations, ismeant to serve as a quadruped for agilemovement. We use the previously researchedmechanisms, control structures and gained knowledge in the electronics development to build a combined and hopefully higher performing robot. Serval consists of an active 3-DOF spine (combining advantages from Lynx and Cheetah-Cub-S), leg units with adduction/abduction mechanism and a scaled ASLP-version of Cheetah-Cub-AL. All motors (DynamixelMX64R and MX28R) are combined with in-series elastics to protect the somewhat sensitive gear-boxes from harmin different load scenarios. The robot is equipped only with a minimal sensor set, consisting of a low-cost, medium-grade IMU. Collaborations started close to the end of this thesis will provide contact and GRF sensing with capacitive sensors as well as a sensitive skin for physical guidance. Control is realized through inverse kinematics for the legs, (for now) offsets in the spine and an underlying CPG-network for pattern generation. Reflexes, like in Oncilla, were not yet implemented, but are ongoing and future work.


Towards rich motion skills with the lightweight quadruped robot Serval

P. Eckert; A. E. M. Schmerbauch; T. Horvat; K. Soehnel; M. S. Fischer et al. 

Adaptive Behavior. 2020-06-01. Vol. 28, num. 3, p. 129-150. DOI : 10.1177/1059712319853227.

Towards Rich Motion Skills with the Lightweight Quadruped Robot Serval – A Design, Control and Experimental Study

P. Eckert; A. E. Schmerbauch; T. Horvat; K. Söhnel; M. S. Fischer et al. 

2018-07-28. 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Frankfurt/Main, Germany, August 14-17, 2018. p. 41-55. DOI : 10.1007/978-3-319-97628-0_4.

Towards Agility: Definition, Benchmark and Design Considerations for Small, Quadrupedal Robots

P. Eckert / A. Ijspeert (Dir.)  

Lausanne, EPFL, 2018. 

Feel free to use pictures and movies without prior permission, provided they are credited as follows:Biorobotics Laboratory, EPFL. Please contact us by email at massimo.vespignani at or auke.ijspeert at if you would like additional information or higher resolution videos.