upkie

Open-source wheeled biped robots

Python★ 391

legged-roboticslegged-robotslocomotionmodel-predictive-controlpid-controlpythonreinforcement-learningrobotics

u@upkie++

free_gait

An Architecture for the Versatile Control of Legged Robots

C++★ 448

apiapiscontrolfree-gaitlegged-robotsmotionmotion-designmotion-planning

l@leggedrobotics++

miniKame

ESP8266 based quadruped with 8DOF and oscillator based gaits.

C++★ 525

3d-printingesp8266legged-robots

j@JavierIH++

rex-gym

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

Python★ 1.1k

artificial-intelligencegym-environmentinverse-kinematicslegged-robotsmachine-learningopenaiopenai-gymopenai-gym-environments

n@nicrusso7++

awesome-robot-descriptions

A curated list of awesome robot descriptions (URDF, MJCF)

code★ 1.6k

awesomeawesome-listbipedhumanoidlegged-robotsmjcfquadrupedrobot

r@robot-descriptions++

champ

MIT Cheetah I Implementation

C++★ 2.3k

gazebogazebo-rosgazebo-simulatorlegged-roboticslegged-robotsquadrupedquadruped-robot-gaitsquadruped-simulation

c@chvmp++