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

Awesome Quadrupedal Robots

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

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.

Isaaclab based Parkour locomotion

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.

dddmr_navigation is the 3D navigation solution for mobile robots includes mapping/localization/perception/path planning/controller/move base

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

Model Predictive Control in JAX

spotMicro机器狗中文攻略，纯新手教程！

[ICCV 2025] Perspective-Invariant 3D Object Detection

MIT Cheetah仿真平台源码笔记以及一部分第三方组件

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

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

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

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

Four Legged robot design