Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!

• UpdatedJul 8, 2024

MIT Cheetah I Implementation

• UpdatedJul 4, 2024
• C++

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

• UpdatedDec 16, 2025
• C++

Open-source wheeled biped robots

• UpdatedDec 17, 2025
• Python

All Terrain Autonomous Quadruped

• UpdatedMay 23, 2021
• Python

Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).

• UpdatedNov 4, 2021
• MATLAB

Tools for exploiting Morphological Symmetries in robotics

• UpdatedAug 26, 2025
• Python

CHAMP Package Config Generator

• UpdatedSep 20, 2022
• Python

Rviz plugins to display whole-body states and trajectories

• UpdatedDec 9, 2025
• C++

[NeurIPS 2022] Official implementation of the paper: "Human-AI Shared Control via Policy Dissection"

• UpdatedMar 2, 2023
• Python

Whole body Inverse Kinematics based on Pinocchio and qpmad

• UpdatedDec 31, 2023
• C++

Overleap is an open-source 2 DOF robotic leg that can jump and hop in a circle.

• UpdatedAug 5, 2021
• C++

climbing simulator written in Matlab

• UpdatedJan 10, 2025
• MATLAB

Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.

• UpdatedSep 28, 2023
• Python

Tutorials for using OpenSHC

• UpdatedApr 14, 2022

Phoenix Hexapod Experiments

• UpdatedJan 11, 2025
• Ada

An Arduino-based six legged robot with extensive documentation.

• UpdatedJan 12, 2025
• C++

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

• UpdatedDec 29, 2023
• Python

An Eigen tool to visualize in Rviz locomotion-related geometric objects

• UpdatedSep 27, 2020
• C++

An adaptation of the Stanford Doggo Project for SUTD SOAR

• UpdatedSep 7, 2021
• C