legged-robots

MIT Cheetah I Implementation

A curated list of awesome robot descriptions (URDF, MJCF)

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

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.

ROS2-Control implementations for Quadruped robots, include sim2real

Visualization of Motions for Legged Robots in ros-rviz

Open-source wheeled biped robots

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots

OpenSHC: A Versatile Multilegged Robot Controller

All Terrain Autonomous Quadruped

Humanoid walking controller with various baseline methods

Legged Robot environments for reinforcement learning in Genesis and other simulators

We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using a single control policy derived from Model-Predictive Path Integral (MPPI) control.

CHAMP Package Config Generator

The Dynamic Whole-body Locomotion library (DWL)