legged-robotics

Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!

MIT Cheetah I Implementation

A programmable and highly maneuverable robotic cat for STEM education and AI-enhanced services.

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.

A 3D Printed Quadrupedal Robot for Locomotion Research. 🐢

All Terrain Autonomous Quadruped

Tools for exploiting Morphological Symmetries in robotics

Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).

CHAMP Package Config Generator

Rviz plugins to display whole-body states and trajectories

[NeurIPS 2022] Official implementation of the paper: "Human-AI Shared Control via Policy Dissection"

Whole body Inverse Kinematics based on Pinocchio and qpmad

Overleap is an open-source 2 DOF robotic leg that can jump and hop in a circle.

Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.

climbing simulator written in Matlab

Tutorials for using OpenSHC

Phoenix Hexapod Experiments

AMP-based quadruped locomotion framework on Isaac Lab

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements