Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
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Jul 8, 2024
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legged-robotics
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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 programmable and highly maneuverable robotic cat for STEM education and AI-enhanced services.
raspberry-pi iot arduino reinforcement-learning legged-robots legged-robotics quadruped-robot robot-dog stem-education legged-locomotion ai-robotics robot-cat robotics-education physical-ai
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Sep 2, 2026 - C++
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
robotics conda motion-planning ros code-generation trajectory-optimization optimal-control differential-dynamic-programming legged-robotics model-predictive-control crocoddyl
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Sep 1, 2026 - C++
Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.
open-source robot computer-vision robotics nextjs web-ui slam robot-operating-system open-source-project open-source-hardware humanoid ros2 teleoperation quadruped legged-robotics go2 autonomous-navigation nvidia-jetson nav2 unitree
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Jun 16, 2026 - TypeScript
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
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Aug 9, 2026 - Python
A 3D Printed Quadrupedal Robot for Locomotion Research. 🐢
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Aug 27, 2026 - Python
Tools for exploiting Morphological Symmetries in robotics
robotics dynamical-systems representation-learning group-theory representation-theory symmetry-analysis legged-robotics symmetries invariant-learning equivariant-control symmetric-robots equivariant-neural-networks morphological-symmetries
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May 7, 2026 - Python
Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).
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Nov 4, 2021 - MATLAB
CHAMP Package Config Generator
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Sep 20, 2022 - Python
Rviz plugins to display whole-body states and trajectories
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Sep 2, 2026 - C++
[NeurIPS 2022] Official implementation of the paper: "Human-AI Shared Control via Policy Dissection"
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Mar 2, 2023 - Python
Whole body Inverse Kinematics based on Pinocchio and qpmad
cpp inverse-kinematics humanoids humanoid-robot humanoid legged-robots legged-robotics legged-robot legged-locomotion
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Dec 31, 2023 - C++
Overleap is an open-source 2 DOF robotic leg that can jump and hop in a circle.
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Aug 5, 2021 - C++
Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
motion-planning trajectory-optimization locomotion obstacle-avoidance quadruped legged-robotics model-predictive-control gait-planning
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Sep 28, 2023 - Python
climbing simulator written in Matlab
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Jan 10, 2025 - MATLAB
Tutorials for using OpenSHC
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Apr 14, 2022
Phoenix Hexapod Experiments
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Jan 11, 2025 - Ada
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
python deep-learning pytorch state-estimation humanoids humanoid-robot legged-robots humanoid-robots legged-robotics humanoid-walking open-source-datasets legged-robot contact-estimation
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Dec 29, 2023 - Python
AMP-based quadruped locomotion framework on Isaac Lab
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Jul 6, 2026 - Python
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