There are 7 repositories under legged-robotics topic.
Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
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
All Terrain Autonomous Quadruped
CHAMP Package Config Generator
Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).
Rviz plugins to display whole-body states and trajectories
[NeurIPS 2022] Official implementation of the paper: "Human-AI Shared Control via Policy Dissection"
Tools for exploiting Morphological Symmetries in robotics
Whole body Inverse Kinematics based on Pinocchio and qpmad
Tutorials for using OpenSHC
climbing simulator written in Matlab
Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
An Eigen tool to visualize in Rviz locomotion-related geometric objects
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
WalkYTo-rl-gym Environment. Walk Yourself, Toddler! Toddlers can learn by deep reinforcement learning now.
An adaptation of the Stanford Doggo Project for SUTD SOAR
An adaptation of the Stanford Doggo Project for SUTD SOAR
Personal Website of Marko Bjelonic
Control and simulation of a quadruped robot in ROS
This repository contains information about the project progress and the LaTeX documentation.
Based on stm32f4 & ad7606, collecting datas from 3D force sensors, IMUs, and other sensors for legged robot.
Resources for adaptation and map size experiments
A Biomimetic approach to a distributed control architecture for gait generation in polypedal mobile robots
My first real legged robot project, will include RN controller via websocket
ROS package to Simulate and visualize Stanford Doggo Quadruped Robot in Gazebo and Rviz
Demonstrative navigation stack for a quadruped robot (nav + control).
A hexapod robot that can walk in multiple directions and climb objects upto 10cm
React Robotics' Dogbot simulator. Fork of The Construct repository with modifications.