legged-robotics

Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!

MIT Cheetah I Implementation

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Open-source wheeled biped robots

All Terrain Autonomous Quadruped

Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).

CHAMP Package Config Generator

Tools for exploiting Morphological Symmetries in robotics

Rviz plugins to display whole-body states and trajectories

[NeurIPS 2022] Official implementation of the paper: "Human-AI Shared Control via Policy Dissection"

Whole body Inverse Kinematics based on Pinocchio and qpmad

Overleap is an open-source 2 DOF robotic leg that can jump and hop in a circle.

Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.

Tutorials for using OpenSHC

climbing simulator written in Matlab

Phoenix Hexapod Experiments

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

An Arduino-based six legged robot with extensive documentation.

An Eigen tool to visualize in Rviz locomotion-related geometric objects

Control and simulation of a quadruped robot in ROS