Aramies cat robot. The Aramies robot comprises 26 active joints, 6 in each leg and 2 for actuating the head, which includes a camera, a laser scanner and two ultrasound distance sensors. In addition, the system has acceleration sensors and gyroscopes for stability control. Each joint is equipped with absolute position sensors, current sensors, and temperature sensors. One major advantage of the Aramies robot in comparison to other walking robots is its actuated claw, which is used to get a hold in steep inclinations. In laboratory tests the system was able to climb up a rung wall with a inclination of 70 degrees. Each claw is equipped with five pressure sensors and an additional special infrared distance sensor, which are used for robust ground contact