MIT Cheetah I Implementation
A curated list of awesome robot descriptions (URDF, MJCF)
A programmable and highly maneuverable robotic cat for STEM education and AI-enhanced services.
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.
Build your own robot duck. XGO-Duck is a 3D-printable biped powered by Arduino UNO Q and 15 servos, adapted from Pollen Robotics' Microduck. Includes mechanical models, PCB designs, a BOM, and an assembly guide. Build it, explore its motion, and make it your own.
ROS2-Control implementations for Quadruped robots, include sim2real
ESP8266 based quadruped with 8DOF and oscillator based gaits.
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
Open-source wheeled biped robots
Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots
legged robot environments for reinforcement learning in multiple simulators (IsaacGym, Genesis, IsaacSim)
Visualization of Motions for Legged Robots in ros-rviz
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
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.
OpenSHC: A Versatile Multilegged Robot Controller
Humanoid walking controller with various baseline methods
All Terrain Autonomous Quadruped
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