legged-robots
There are 75 repositories under legged-robots topic.
chvmp/champ
MIT Cheetah I Implementation
robot-descriptions/awesome-robot-descriptions
A curated list of awesome robot descriptions (URDF, MJCF)
nicrusso7/rex-gym
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
ethz-adrl/towr
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
LeCAR-Lab/dial-mpc
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.
DRCL-USC/Hector_Simulation
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
leggedrobotics/free_gait
An Architecture for the Versatile Control of Legged Robots
JavierIH/miniKame
ESP8266 based quadruped with 8DOF and oscillator based gaits.
legubiao/quadruped_ros2_control
ROS2-Control implementations for Quadruped robots, include sim2real
leggedrobotics/xpp
Visualization of Motions for Legged Robots in ros-rviz
upkie/upkie
Open-source wheeled biped robots
leggedrobotics/wild_visual_navigation
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
ouguangjun/Leg-KILO
Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots
csiro-robotics/syropod_highlevel_controller
OpenSHC: A Versatile Multilegged Robot Controller
chinmaynehate/Venom
All Terrain Autonomous Quadruped
isri-aist/BaselineWalkingController
Humanoid walking controller with various baseline methods
lupinjia/genesis_lr
Legged Robot environments for reinforcement learning in Genesis and other simulators
jrapudg/RTWholeBodyMPPI
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 single control policy derived from Model-Predictive Path Integral (MPPI) control.
chvmp/champ_setup_assistant
CHAMP Package Config Generator
robot-locomotion/dwl
The Dynamic Whole-body Locomotion library (DWL)
isri-aist/CentroidalControlCollection
Collection of centroidal control for legged robots
MichaelMarav/ProbabilisticContactEstimation
Probabilistic Contact State Estimation for Legged Robots in ROS
shbang91/rpc
A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and logging utilities, and operator interfaces for robotic systems.
awinkler/ue4_towr
Visualize Legged Robot Trajectories with Unreal Engine
isri-aist/MultiContactController
Humanoid multi-contact motion controller
mrsp/whole_body_ik
Whole body Inverse Kinematics based on Pinocchio and qpmad
upkie/upkie_description
URDF descriptions for Upkie wheeled bipeds
Evan-wyl/robotlearning
Papers, datasets, tutorials.
robot-locomotion/terrain-server
Terrain mapping algorithm for motion planning and control in legged locomotion
nicrusso7/robot-gym
RL applied to robotics.
nicolaloi/Reinforcement-Learning-Isaac-Lab-Projects
Multiple experimental environments for Isaac Lab.
pietrodardano/RL_Dog
RL for Walk and Stop for quadruped legged robot (AlienGo - Unitree) + Examples. PPO (SKRL), DDPG (SKRL, SB3), TD3 (SB3).
isri-aist/BaselineFootstepPlanner
Humanoid footstep planner based on baseline methods with graph search
csiro-robotics/shc_tutorials
Tutorials for using OpenSHC
godunko/hexapod
Phoenix Hexapod Experiments
ioloizou/quadruped-group-project-ecn
An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK