Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
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Jul 8, 2024
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quadruped
Here are 126 public repositories matching this topic...
An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
education raspberry-pi iot arduino ai robotics simulation stem visual-programming walking quadruped block-coding quadruped-robot-gaits robot-kit legged-robot robot-pet robot-dog robot-cat robotics-education
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Nov 25, 2025 - C++
MIT Cheetah I Implementation
robotics ros gazebo legged-robots quadruped legged-robotics gazebo-simulator quadruped-robot-gaits gazebo-ros quadruped-simulation
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Jul 4, 2024 - C++
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
robot computer-graphics eigen motion-planning ros trajectory-optimization locomotion nonlinear-programming collocation legged-robots biped quadruped physics-based-animation ipopt snopt xpp ifopt
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Apr 17, 2023 - C++
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
open-source machine-learning environment control reinforcement-learning optimization terrain openai-gym ros locomotion spot walker quadruped gait openai-gym-environments pybullet gym-environment quadruped-robot-gaits quadruped-robots quadruped-robot
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Oct 5, 2022 - C++
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
machine-learning reinforcement-learning robot robotics tensorflow openai-gym python3 artificial-intelligence inverse-kinematics openai reinforcement-learning-algorithms legged-robots quadruped robotic-arm openai-gym-environments pybullet gym-environment quadruped-robot-gaits quadruped-robot spotmicro
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Mar 24, 2023 - Python
A curated list of awesome robot descriptions (URDF, MJCF)
awesome robot robotics awesome-list urdf humanoid legged-robots biped quadruped urdf-models urdf-descriptions mjcf
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Dec 5, 2025
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.
mpc optimal-control diffusion humanoid legged-robots quadruped online-control sampling-based-control
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May 28, 2025 - Python
Awesome Quadrupedal Robots
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Dec 1, 2025 - Python
Deep RL for MPC control of Quadruped Robot Locomotion
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Jul 18, 2025 - Python
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
machine-learning control reinforcement-learning robotics trajectory-generation locomotion 3d-printing trajectory bezier-path quadruped gait gait-generation quadruped-robots quadruped-robot
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Aug 23, 2024 - C++
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
algorithm robot mit simulation terrain ros mpc locomotion quadruped gait pybullet quadruped-robot mini-cheetah
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Jun 14, 2022 - C++
Collection of quadrupedal robots configured to work in CHAMP development framework
simulation ros gazebo spot quadruped anymal spotmicro opendog mit-mini-cheetah aliengo open-quadruped littledog dkitty
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Aug 19, 2024 - C
An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
education raspberry-pi iot arduino ai robotics simulation esp32 stem visual-programming quadruped block-coding quadruped-robot-gaits walking-robot robot-kit legged-robot robot-pet robot-dog robot-cat robotics-education
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Dec 7, 2025 - C++
TOPS (Traverser of Planar Surfaces) or "SPOT" backwards is a 3D printed Open Source quadrupedal robot
robot robotics robots quadruped walking-robot boston-dynamics quadrupedal-robots robot-dog boston-dynamics-spot quadrupedal-robot-gait
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Oct 6, 2023 - C++
Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it, you can have a look at our YouTube channel.
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Aug 2, 2021 - C++
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
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Aug 29, 2024 - Python
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