quadruped-robots

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Awesome Quadrupedal Robots

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.

CHAMP Package Config Generator

SEROW Framework for N Legged Robot Walking Estimation

PRCV 2022: The FusionPortable-VSLAM Challenge

A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data

Inverse Kinematic of Quadruped Robot Leg

We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology.

Forward Kinematic of Quadruped Robot Leg

Repository for the cad/code for my quadruped project

Foot End Trajectory of Quadruped Robot

[L4DC 2025] Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning

Laying the Groundwork for Quadruped Locomotion Solutions: A Hyperparameter Study for Legged Gym (Based on ViNL work)

Main repository for catbot onboard software