MIT Cheetah I Implementation

Robust quadrupedal locomotion on sloped terrains: A linear policy approach.

Open-Source,ROS Robot Dog Kit

This repository contains all the code and files needed to simulate the notspot quadrupedal robot using Gazebo and ROS.

Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)

Toolkit for vision-guided quadrupedal locomotion research

An open source implementation of MIT Cheetah 3 controllers

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and d…

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

An Open Source Quadruped-Robot for Simulating and Real Environment

Efficient optimal control solvers for robotic systems.

ROS driver for controlling Boston Dynamics' Spot robot

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

Isaac Gym Environments for Legged Robots

Globally Safe Model-free Exploration of Dynamical Systems