legged-robots

MIT Cheetah I Implementation

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

#计算机科学#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 rob...

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

#计算机科学#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

#网络爬虫#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 s...

CHAMP Package Config Generator

The Dynamic Whole-body Locomotion library (DWL)