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

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

Awesome Quadrupedal Robots

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.

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

An Open Source Quadruped-Robot for Simulating and Real Environment

Learn how to train a quadruped robot to walk using reinforcement learning, from defining actions and observations to designing rewards and transitioning from simulation to reality.

Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP

MIT Cheetah仿真平台源码笔记以及一部分第三方组件

spotMicro机器狗中文攻略，纯新手教程！

WIP: ESP32 powered robot dog, quadruped robot. This is just code, hardware in the other repositories

Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)

HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS

Model Predictive Control in JAX

Designed to improve some structures to achieve better performance, and learn the algorithms used in the pupper project.

Four Legged robot design

Official implementation of "Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots"

Official codebase for PRELUDE (Perceptive Locomotion Under Dynamic Environments)

Unofficial implementaton of the paper DTC: Deep Tracking Control