legged-robots

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

mpc optimal-control diffusion humanoid legged-robots quadruped online-control sampling-based-control

UpdatedMay 28, 2025
Python

DRCL-USC /Hector_Simulation

Star506

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

robot mpc optimal-control locomotion humanoid legged-robots humanoid-control bipedal-locomotion-control

UpdatedJan 13, 2025
C++

legubiao /quadruped_ros2_control

Star437

ROS2-Control implementations for Quadruped robots, include sim2real

rl gazebo xiaomi legged-robots mujoco ros2-control unitree ocs2 deep-robotics

UpdatedDec 15, 2025
C++

leggedrobotics /free_gait

Star433

An Architecture for the Versatile Control of Legged Robots

api control robot robotics motion motion-planning ros apis motion-design whole-body-control legged-robots free-gait whole-body-api

UpdatedOct 31, 2019
C++

JavierIH /miniKame

Star427

ESP8266 based quadruped with 8DOF and oscillator based gaits.

esp8266 3d-printing legged-robots

UpdatedJun 27, 2025
C++

leggedrobotics /xpp

Star335

Visualization of Motions for Legged Robots in ros-rviz

visualization robotics computer-graphics motion-planning ros locomotion rviz legged-robots zmp physics-based-animation

UpdatedDec 9, 2021
C++

upkie /upkie

Star299

Open-source wheeled biped robots

python reinforcement-learning robotics simulation locomotion pid-control legged-robots legged-robotics model-predictive-control wheeled-biped

UpdatedDec 17, 2025
Python

ouguangjun /Leg-KILO

Star245

Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots

localization mapping kinematics lidar slam odometry legged-robots multisensor stateestimation

UpdatedNov 29, 2025
C++

leggedrobotics /wild_visual_navigation

Star245

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

machine-learning computer-vision robotics navigation online-learning legged-robots robot-navigation self-supervised-learning traversability-estimation field-robotics

UpdatedJul 18, 2025
Python

csiro-robotics /syropod_highlevel_controller

Star171

OpenSHC: A Versatile Multilegged Robot Controller

robotics hexapod robotics-control shc legged-robots hexapod-robot robotics-simulation csiro hexapod-ros openshc

UpdatedJun 17, 2021
C++

lupinjia /genesis_lr

Star161

Legged Robot environments for reinforcement learning in Genesis and other simulators

reinforcement-learning genesis legged-robots

UpdatedDec 17, 2025
Python

chinmaynehate /Venom

Star158

All Terrain Autonomous Quadruped

robot spider kinematics python3 ros imu fourier-series kalman-filter legged-robots quadruped legged-robotics ros-kinetic kinematic-modeling autonomous-robots autonomous-navigation legged quadrupeds

UpdatedMay 23, 2021
Python

isri-aist /BaselineWalkingController

Star155

Humanoid walking controller with various baseline methods

robotics controller walking humanoid legged-robots bipedal-robots

UpdatedOct 27, 2025
C++

jrapudg /RTWholeBodyMPPI

Star141

We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enables real-time, contact-rich locomotion and manipulation using a single control policy derived from Model-Predictive Path Integral (MPPI) control.

whole-body-control legged-robots mppi