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.

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.

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

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

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