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An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
MIT Cheetah I Implementation
A programmable and highly maneuverable robotic cat for STEM education and AI-enhanced services.
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.
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
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.
Awesome Quadrupedal Robots
Deep RL for MPC control of Quadruped Robot Locomotion
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
TOPS (Traverser of Planar Surfaces) or "SPOT" backwards is a 3D printed Open Source quadrupedal robot
Collection of quadrupedal robots configured to work in CHAMP development framework
All Terrain Autonomous Quadruped
WIP: ESP32 powered robot dog, quadruped robot. This is just code, hardware in the other repositories
An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
[CVPR2025] CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos