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quadruped

Here are 156 public repositories matching this topic...

PetoiCamp / OpenCat-Quadruped-Robot

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

Updated Apr 3, 2026
C++

Nate711 / StanfordDoggoProject

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

robot cad quadruped legged-robotics stanford-doggo quasi-direct direct-drive

Updated Jul 8, 2024

champ

chvmp / champ

MIT Cheetah I Implementation

robotics ros gazebo legged-robots quadruped legged-robotics gazebo-simulator quadruped-robot-gaits gazebo-ros quadruped-simulation

Updated Jul 4, 2024
C++

awesome-robot-descriptions

robot-descriptions / awesome-robot-descriptions

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

Updated Mar 19, 2026

OpenCat-Old

PetoiCamp / OpenCat-Old

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

robotics walking quadruped legged

Updated Oct 10, 2022
C++

rex-gym

nicrusso7 / rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

Updated Mar 24, 2023
Python

Awesome_Quadrupedal_Robots

curieuxjy / Awesome_Quadrupedal_Robots

Awesome Quadrupedal Robots

awesome awesome-list quadruped quadruped-robots quadruped-robot

Updated Mar 26, 2026
Python

ethz-adrl / towr

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

Updated Apr 17, 2023
C++

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.

mpc optimal-control diffusion humanoid legged-robots quadruped online-control sampling-based-control

Updated May 28, 2025
Python

silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion

reinforcement-learning robotics mpc quadruped isaac-gym

Updated Jul 18, 2025
Python

spot_mini_mini

OpenQuadruped / spot_mini_mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Updated Oct 5, 2022
C++

real-stanford / umi-on-legs

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

reinforcement-learning robotics whole-body-control quadruped robotic-manipulation

Updated Aug 29, 2024
Python

adham-elarabawy / open-quadruped

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

Updated Aug 23, 2024
C++

Derek-TH-Wang / quadruped_ctrl

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

Updated Jun 14, 2022
C++

aaedmusa / TOPS

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

Updated Oct 6, 2023
C++

chvmp / robots

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

Updated Aug 19, 2024
C

CityWalker

ai4ce / CityWalker

[CVPR2025] CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos

imitation-learning robot-learning quadruped visual-navigation video-learning outdoor-navigation embodied-ai embodied-navigation urban-navigation scaling-law point-goal-navigation cvpr2025

Updated Sep 19, 2025
Python

PetoiCamp / OpenCatEsp32-Quadruped-Robot

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.

Updated Feb 7, 2026
C++

apexrl / awesome-rl-for-legged-locomotion

A curated list of awesome material on legged robot locomotion using reinforcement learning (RL) and sim-to-real techniques.

awesome reinforcement-learning locomotion humanoid-robot quadruped

Updated Mar 28, 2025

chinmaynehate / Venom

All Terrain Autonomous Quadruped

robot spider kinematics python3 ros imu fourier-series kalman-filter legged-robots quadruped legged-robotics ros-kinetic kinematic-modeling autonomous-robots autonomous-navigation legged quadrupeds

Updated May 23, 2021
Python

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