Acknowledgement

Many great works of robotics from different companies or organizations inspire us to improve our robot. Thanks for their opensource spirit.

  1. XDog (2013~2016), developed by Wang Xingxing at Shanghai University. https://github.com/unitreerobotics/Publications
  2. Boston Dynamics, some disclosed designs that can be used freely. https://www.bostondynamics.com
  3. drake, developed by Russ Tedrake and the Drake Development Team at MIT. https://github.com/RobotLocomotion/drake
  4. ocs2, developed by RSL team and ADRL team at ETH Zurich. https://github.com/leggedrobotics/ocs2
  5. quad-sdk, developed by the Robomechanics Lab at Carnegie Mellon University. https://github.com/robomechanics/quad-sdk
  6. Cheetah-Software, developed by MIT Biomimetic Robotics Lab. https://github.com/mit-biomimetics/Cheetah-Software
  7. rbdl, developed by Martin Felis. https://github.com/rbdl/rbdl
  8. towr, developed by Alexander W. Winkler at ETH Zurich. https://github.com/ethz-adrl/towr
  9. xpp, developed by Alexander W. Winkler at ETH Zurich. https://github.com/leggedrobotics/xpp
  10. kindr, developed by ANYbotics. https://github.com/ANYbotics/kindr
  11. free_gait, developed by Péter Fankhauser at RSL, ETH Zurich. https://github.com/leggedrobotics/free_gait
  12. dwl, developed by Carlos Mastalli at Dynamic Legged Systems lab (DLS) at IIT. https://github.com/robot-locomotion/dwl
  13. pinocchio, developed by Justin Carpentier and Florian Valenza and Nicolas Mansard and others at LAAS-CNRS and INRIA. https://github.com/stack-of-tasks/pinocchio