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.

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

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.

An Architecture for the Versatile Control of Legged Robots

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

ESP8266 based quadruped with 8DOF and oscillator based gaits.

Visualization of Motions for Legged Robots in ros-rviz

Open-source wheeled biped robots

OpenSHC: A Versatile Multilegged Robot Controller

All Terrain Autonomous Quadruped

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

ROS2-Control implementations for Quadruped robots

Humanoid walking controller with various baseline methods

The Dynamic Whole-body Locomotion library (DWL)

CHAMP Package Config Generator

Collection of centroidal control for legged robots

Probabilistic Contact State Estimation for Legged Robots in ROS

Visualize Legged Robot Trajectories with Unreal Engine