Generation D

ANYmal X
Technical
Specifications

→ Leading Autonomy & Mobility

→ Intelligent Inspection
→ Explosion-Proof Design
 Leading Autonomy & Mobility
Fully autonomous navigation and AI-based
mobility enable ANYmal X to seamlessly conduct
mission-critical inspections in multi-story and
complex facilities with ease.

Intelligent Inspection
Utilizing high-resolution sensors and cutting-edge
machine learning, ANYmal X delivers accurate
real-time data, uploaded directly to customer
systems via the ANYmal API.

Explosion-Proof Design
ANYmal X is the world's only Ex-certified legged
inspection robot, designed to meet the challenges
of deployment in hazardous and potentially
explosive environments (Zone 1).

2
Ex-Proof Operations
ANYmal X provides autonomous robotic inspections in Oil & Gas and Chemicals facilities. The robot is certified for
operation in Zone 1 according to the IECEx and ATEX standards. The system is also fully IP67 ingress protected and
ready for long-term deployment in harsh outdoor environments.

ZONE 2

ZONE 1
ZONE 0

ENVIRONMENTAL CONDITIONS

IECEx COMPLIANT ATEX COMPLIANT

Ex db eb ib op is pxb sb IIB T4 Gb II 2G IIB T4

TEMPERATURE EXPLOSIVE GASES INGRESS PROTECTION PROTECTION METHOD

Certified for operation between Acetone, Ammonia, Butane, IP67, fully protected against A pressurized main body filled
0—40°C (32—104°F) Cyclohexane, Propane, water and dust and able to with inert Nitrogen gas and
Methane, Toluene, Xylene, operate in wet, humid, or dusty revolutionary actuator design
Ethylene, Ethanol, MEK, etc. environments. enable ex-proof operations.

3
Extreme Mobility
ANYmal X's legged design and AI-based mobility software provide unprecedented mobility and performance.
Combined with its obstacle avoidance capabilities, the robot is ready for use in complex and dynamic environments.
The robot reliably navigates any environment and traverses rough terrain with ease. ANYmal X completes even
challenging missions requiring it to climb steep stairs, pass through narrow corridors, or conquer rocky, slippery,
or wet surfaces.

STAIRS
ANYmal X is capable of climbing and descending
a variety of industrial stair types:

→ Up to 45°
→ Max rise 230 mm
→ Min run 210 mm
→ Min width 800 mm
→ Open risers
→ Grated steps

MOBILIT Y HIGHLIGHTS

STEP WALKING SPEED NARROW SPACE SLOPE

250 mm Up to 1.0 m/s, recommended 600 mm ±30 °
0.5 m/s for increased efficiency
and safety.

ACCURATE POSITIONING GAP SUSPENDED OMNIDIRECTIONAL

Knows its absolute location with 300 mm 600 mm Steps sideways and turns in place.
centimeter accuracy.

4
Full Autonomy
ANYmal X's unparalleled ability to perceive and navigate its environment powers fully autonomous operation. Once
it maps an environment, the robot remembers every detail and can dynamically plan the best route to perform its
mission, even without an internet connection. The robot can avoid collisions, plan & re-plan paths, and recharge
autonomously in a safe zone. All this together enables safe, efficient, and continuous autonomous operation.

ROBOT DEPLOYMENT
SHOW & GO IMPORT CAD / BIM
Show the robot the environment and tasks by manually guiding the robot Import your existing CAD models to virtually set up inspection points, paths, and
through the plant and indicating the location of inspection points. missions. Perform realistic simulations of your inspection missions and software
Set up missions that the robot will remember and autonomously repeat. integration before the robot arrives at your facility to save on deployment time.

NAVIGATION INSPECTION POINTS COLLISION AUTOMATED SAFE

WAYPOINTS & MISSION SETUP AVOIDANCE MODES ZONE CHARGING

ANYmal X uses the points for Inspection points are defined The robot employs multiple
autonomous navigation. as a special navigation goal for modes to avoid collisions and The docking station enables
It follows the shortest path the robot in the user interface. safely stop near cliffs. continuous autonomous oper-
between waypoints to target ation and is also defined as a
Inspection missions can be set In Stop & Go the robot will stop point of interest during setup of
3D coordinates throughout its
up using the Mission Editor in the before obstacles to avoid colli- the facility environment.
inspection missions.
Operator GUI. Rule-based logic sions and move again once the
During deployment navigation can be implemented to have the obstacle has moved. Missions can be set to any length
waypoints are generated for robot react to anomalies and as the robot will automatically
In Obstacle Avoidance mode, navigate to the docking station
planning robot missions. Points alter its mission in real-time.
if space is available, the robot when the battery is low and re-
can later be added, edited, or
will reroute around them. Alter- sume its mission after charging.
removed in the Operator GUI.
nately, if a path is completely
More information about the
blocked, the robot can attempt
docking station and charger is
to intelligently replan its route in
available on page 9.
order to complete its mission.

5
Industrial Inspection
READING INSTRUMENTS DETECTING EVENTS CHECKING HEALTH OF 3D ENVIRONMENT SCANNING
A broad range of analog instru- Unforeseen technical events can EQUIPMENT Industrial environments require
ments and indicators can be result in hazardous situations. Early signs of operating prob- continuous tracking of structural
digitized. Once trained on a type Equipped with precision sensors, lems are caught by examining changes. ANYmal X supports
of instrument, the value or state ANYmal X detects dangerous the general health of the equip- operations by scanning and docu-
is reliably identified. conditions in the environment ment. During the inspection, menting 3d environmental data.
and triggers a warning when ANYmal X checks critical points
Example: Pressure value, Example: Dense point clouds
required. for anomalies and reports severe
success status, confidence level are recorded with the LiDAR
problems immediately.
and image of an analog gauge Example: The temperature of and depth cameras of ANYmal X
are recorded on the robot and the hottest point in the thermal Example: Sound recording and and fused into a global point
transmitted to your data portal. image of a motor together with frequency analysis to detect cloud map.
the image are reported to the unusual vibrations is performed
plant operator. by ANYmal X.

INSPECTION PIPELINE

Extract and process data

Detect and recognize objects, Collect multiple types of data for

even if it has moved analysis and reporting

01 02 03 04

APPEND METADATA RULE-BASED LOGIC ASSOCIATE INSPECTION INSPECTION REPORTING

Inspection results include pre- Inspection missions can be RESULTS Generate reports of inspection
defined metadata fields such as programmed to change if certain Multiple inspection results can results, export results to data
time or location to add context to inspection results are observed be associated with each other to portals or digital twin, or see
the data. The spatial metadata of (e.g., a high or low threshold), add additional context to the raw inspection results live in the GUI
each inspection point in your enabling operators to prioritize inspection data. when connected to the robot via
facility is recorded to ensure inspection activities based on Wi-Fi or LTE.
repeat inspection and support measured conditions on-site.
digital twins.

6
INSPECTION PAYLOAD

Zoom camera Default: 1080 × 1920 px (FullHD), 15 FPS

Maximum: 2160 × 3840 px (QFHD/4k), 30 FPS
20× optical zoom, 70.2° to 4.1° FOV (horizontal)

Thermal camera - 10° to +400 °C (radiometry)

160 × 120 px
57° FOV (horizontal)

Microphone 3.75—20 kHz sampling frequency

Spotlight 947 Im continuous

Range of motion Pan: ±165°, tilt: - 90°/+ 90°

Speed: 340°/s

Dimensions 219 × 177 × 246 mm (L/W/H) (with protectors)

(8.62 × 6.97 × 9.69 in)

Weight 6 kg (13.2 Ibs)

GAS SENSOR PAYLOAD (OPTIONAL)

Compatible models Honeywell SensePoint

Drager PIR 3000

Payload Max. 2 sensors

Gas detection LEL: CH4, C2H4, C3H8

PPM: O2, CO, H2S, Cl, SO2, NO2, NH3

Electrical interface RS485 or 4–20 mA

7
ANYmal X
Dimensions Length: 891 (35.06 in)
Width: 651 mm (25.63 in) (default walking)
Height: 872 mm (34.31 in) (default walking) /
440 mm (17.33 in) (lying on ground)

871.6 mm
Weight 60.1 kg (132.5 lbs)
with Inspection Payload and Gas Sensor

Walking speed 1.0 m/s maximum, rough or slippery terrain may reduce
the walking speed, 0.5 m/s recommended for safe and
efficient operation
890.6 mm 650.9 mm

Edge Computing Perception Sensors

Computers 2× 8 th Gen Intel Core™ i7 (6-core) CPU LIDAR 16 channels, 300’000 points/s, full sweep at 10 Hz
with 2× 8 GB Memory (RAM) 0.4 — 100 m range, 3 cm accuracy (typical)
360 × 15.0 to -15.0º FOV (Horizontal × Vertical)
Hard disks 2× 240 GB SSD 905 nm, Class 1 Eye-safe per IEC 60825-1:2007 & 2014

Operating system Ubuntu 20.04 Depth camera 0.3—3 m range, 87.3 × 58.1 × 95.3º depth FOV
(Horizontal / Vertical / Diagonal), Class 1 Laser Product
under the EN/IEC 60825-1, Edition 3 [2014]
Telecommunication

Tele-operation 1440 × 1080 px

Wi-Fi Built-in module 2.4 / 5 GHz, 802.11 ac wave2 cameras 110 × 76.5 × 117.7º FOV
Access point or client mode (Horizontal / Vertical / Diagonal)

4G LTE Onboard module, LTE Cat.12

Environmental conditions

Battery Temperature Specified: 0— 40ºC (32—104ºF)

Battery & capacity Swappable Li-ion battery, UN 38.3 certified 932.4 Wh Day & night No light required for autonomous operation and
inspection. Low light (min. 20 lux) needed for auto-
Running time & 60—120 minute on a full charge 2.5 km range on a matic docking and tele-operation.
range full charge, up to 1.5 km for a typical inspection
mission depending on number of inspection points Water & dust ingress Fully protected against water and dust (IP67) and
protection able to operate in humid and dusty conditions.
Recharge time 3 h for full charge, 100 min for 70% quick charge
Industrial floor ANYmal X walks on metal, concrete, gratings /
Dimensions 466 × 136 × 78 mm (18.35 × 5.35 × 3.07 in) (L/W/H) checkerboards, gravel, dirty, wet and slippery
floors.
Weight 5.5 kg (12.13 lbs)

Ingress protection IP67

Perception Sensors Field of View

Dynamic sensing

High density near field sensing

Nearby the robot, the depth cameras
detect details about the environment
100 m and obstacles within 2 m.

2m
Accurate long range sensing
The powerful onboard Lidar is used
for mapping, localization, and collision
avoidance up to 100 m.

8
Automated End-to-End Workflow
Pre-scheduled or upon your operator’s request, ANYmal X performs automated inspection routines with improved
reliability and accuracy. The robot and its results integrate into existing systems and data portals with its gRPC-
based ANYmal API to produce consistent inspection data and analysis reports. Work with a fleet of ANYmal X to
easily scale your monitoring coverage and frequency.

ROBOT OPERATION

ANYMAL SERVER ANYMAL API

On-premise or cloud software for gRPC-based API for
→ Automatic data synchronization → Mission control
→ API for third party data portals → Data integration

ANYMAL X
On robot software for full autonomy including

→ Mission control & robot behavior

OPERATOR PC INSPECTION REPORT
→ Diagnostics & data logging
Graphical user interface for PDF or XML report with
→ Localization & mapping
→ Path planning & motion control → Mission scheduling / programming → Inspection results
→ Inspection intelligence → Tele-operation → Anomaly reporting
→ Health monitoring → Time & position info
→ Software configuration → Supporting sensor data
→ Export of inspection reports

Charger

Charges the battery in the robot, outside the robot or automatically with the
docking station in a safe zone.

Power supply 110 — 240 V / 50 — 60 Hz

Ingress protection IP65

Cable length 5 m (16.4 ft)

Dimensions 145 × 300 × 124 mm (L/W/H)

(5.71 × 11.81 × 4.88 in)

Weight 3.5 kg (7.72 lbs)

Docking station

Permits the robot to recharge itself after missions in a safe zone

enabling fully autonomous operation. Extends the robot's mission range
with deployment of additional docking stations along the route.

Ingress protection IP65

Required space 1000 x 800 mm [L/W]

for charging 39.4 x 31.5 in

Dimensions 145 × 300 × 124 mm (L/W/H)

(5.71 × 11.81 × 4.88 in)

Weight 1.4 kg (3.1 lbs)

9
Operator Graphical User Interface
Plan and manage your robots from a single interface. The Operator GUI enables you to create, plan, and launch
missions, operate the robot, visualize data from inspection events, and monitor the state and health of the robot.

3 Protective stop button

1 Mission panel Easily accessible button
Select and launch to trigger a protective
missions and observe stop to bring the robot
mission progress. in a safe state.
2
Robot status bar
Check critical information
about the robot’s status
including localization
and obstacles.

6 Sensor panel
Stream and record sensor
4 3D visualization
data from the onboard
Plan and observe the cameras and Lidar.
robot's work environment
including navigation &
inspection goals, point 5 Inspection window
clouds, and 3D models
Select point of interest
(if available).
for inspection, record
inspection results as
pictures & videos, and set
up inspection points for
autonomous missions.

10
Data Integration and Compliance
ANYmal X offers seamless integration into your existing systems and workflows. Install your own software
on the robot or connect ANYmal X securely to your cloud software. ANYmal X complies with IECEx, ATEX, ISO, and
CE standards.

Data Integration

On server API based on open-source Remote Procedure Call framework

(gRPC) enables:
Data security & privacy
→ Inspection results export to data portals, maintenance
management systems, digital twins, or 3rd party data systems Enterprise WPA2 secured Wi-Fi is supported.
→ Mission triggering and status, including task progress Data file transmissions are encrypted by
→ Connection status and offline caching of inspection results TLS 1.2 and live data transmissions are
protected by VPN. Authorization is granted
via TLS certificates.
On robot API based on open-source ROS (Robot Operating System)
C++ plugins for inspection modules enables custom configuration
and integration of custom payloads.

Safety & Compliance

Ex certification IECEx compliant Ex db eb ib op is pxb sb IIB T4 Gb

ATEX compliant II 2G IIB T4
Certification and compliance
Emergency stop Push button on the robot to disconnect complete power supply ANYmal X is the only Ex-certified legged robot and it
complies with ISO 13849-1:2015 Category 3 PL c. complies with the relevant ISO categories and CE directives
for industrial deployment.
Smart Device Smart device application offers button to disable the actuators.
Protective Stop

Compliance CE marked complying with Machinery Directive 2006/42/EC (MD),

EMC Directive 2014/30/EU (EMCD), Low Voltage Directive 2014/35/
EU, Radio Equipment Directive 2014/53/EU (RED) and Restriction
of Hazardous Substances in Electrical and Electronic Equipment
(ROHS) 2011/65/EU.

11
Getting Started

We partner with customers to define business goals and how

ANYbotics can contribute to solving inspection tasks based on
the requirements of their environment and applications.
Based on our analysis, we provide a custom offer that covers your
exact needs. Contact us to assess the application of autonomous
inspection robots in your operations or ask for an on-site demon-
stration at your facility via anybotics.com or [email protected].

Use Cases
Learn more about ANYmal X's use cases and impact in the
Oil & Gas and Chemicals industries.
anybotics.com/news/

Follow us
LinkedIn linkedin.com/company/anybotics
YouTube youtube.com/anybotics

ANYbotics AG
Hagenholzstrasse 83a
8050 Zürich

© ANYbotics AG. All rights reserved worldwide.

V.1 – August 2022. ANY-TECR-000050-00 / All information is subject to change without notice.