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The Top 23 Legged Robots Open Source Projects

Open source projects categorized as Legged Robots
Categories > Legged Robots
Opencat ⭐ 2,617
An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
most recent commit 3 months ago
Champ ⭐ 1,125
𓃡 Quadruped Robot based on MIT Cheetah I
most recent commit a year ago
Rex Gym ⭐ 759
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
total releases 17most recent commit 3 years ago
Towr ⭐ 647
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
most recent commit a year ago
Minikame ⭐ 331
ESP8266 based quadruped with 8DOF and oscillator based gaits.
most recent commit 7 years ago
Free_gait ⭐ 223
An Architecture for the Versatile Control of Legged Robots
most recent commit 4 years ago
Xpp ⭐ 222
Visualization of Motions for Legged Robots in ros-rviz
most recent commit 2 years ago
Awesome Robot Descriptions ⭐ 182
A curated list of awesome robot descriptions (URDF, MJCF)
most recent commit 4 months ago
Hector_simulation ⭐ 180
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
most recent commit 3 months ago
Venom ⭐ 146
All Terrain Autonomous Quadruped
most recent commit 3 years ago
Syropod_highlevel_controller ⭐ 76
OpenSHC: A Versatile Multilegged Robot Controller
most recent commit 3 years ago
Baselinewalkingcontroller ⭐ 76
Humanoid walking controller with various baseline methods
most recent commit 5 months ago
Popi_project ⭐ 71
Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it, you can have a look at our YouTube channel.
most recent commit 3 years ago
Upkie ⭐ 66
Open-source wheeled biped robots
most recent commit 3 months ago
Opencatesp32 ⭐ 57
An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
most recent commit 3 months ago
Champ_setup_assistant ⭐ 52
CHAMP Package Config Generator
most recent commit 2 years ago
Centroidalcontrolcollection ⭐ 41
Collection of centroidal control for legged robots
most recent commit 4 months ago
Dwl ⭐ 40
The Dynamic Whole-body Locomotion library (DWL)
most recent commit 6 years ago
Probabilisticcontactestimation ⭐ 36
Probabilistic Contact State Estimation for Legged Robots in ROS
most recent commit 9 months ago
Upkie_description ⭐ 30
URDF model for the Upkie wheeled biped
most recent commit 3 months ago
Ue4_towr ⭐ 21
Visualize Legged Robot Trajectories with Unreal Engine
most recent commit 5 years ago
Whole_body_ik ⭐ 14
Whole body Inverse Kinematics based on Pinocchio and qpmad
most recent commit 4 months ago
Multicontactcontroller ⭐ 13
Humanoid multi-contact motion controller
most recent commit 6 months ago
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