Repository navigation
legged-robots
- Website
- Wikipedia
MIT Cheetah I Implementation
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
A curated list of awesome robot descriptions (URDF, MJCF)
Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
An Architecture for the Versatile Control of Legged Robots
ESP8266 based quadruped with 8DOF and oscillator based gaits.
Visualization of Motions for Legged Robots in ros-rviz
Open-source wheeled biped robots
ROS2-Control implementations for Quadruped robots, include sim2real
OpenSHC: A Versatile Multilegged Robot Controller
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
All Terrain Autonomous Quadruped
Humanoid walking controller with various baseline methods
CHAMP Package Config Generator
The Dynamic Whole-body Locomotion library (DWL)
Legged Robot environments for reinforcement learning in Genesis
Collection of centroidal control for legged robots
Probabilistic Contact State Estimation for Legged Robots in ROS