legged-robotics 开源项目推荐（56 个）

Nate711 /StanfordDoggoProject

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

chvmp /champ

MIT Cheetah I Implementation

PetoiCamp /OpenCat-Old

A programmable and highly maneuverable robotic cat for STEM education and AI-enhanced services.

loco-3d /crocoddyl

Crocoddyl是接触顺序下机器人控制的最佳控制库。它的求解器基于各种高效的类似差异动态规划（DDD）的算法

botbotrobotics /BotBrain

Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.

Jerome-Graves /yertle

A 3D Printed Quadrupedal Robot for Locomotion Research. 🐢

chinmaynehate /Venom

All Terrain Autonomous Quadruped

Danfoa /MorphoSymm

Tools for exploiting Morphological Symmetries in robotics

ivanalberico /Robot-Dynamics-ETH

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

chvmp /champ_setup_assistant

CHAMP Package Config Generator

loco-3d /whole_body_state_rviz_plugin

Rviz plugins to display whole-body states and trajectories

metadriverse /policydissect

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

mrsp /whole_body_ik

Whole body Inverse Kinematics based on Pinocchio and qpmad

aarondls /overleap

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

Alexyskoutnev /Quadruped-Trajectory-Optimization-Stack

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

Space-Robotics-Laboratory /ClimbLab

climbing simulator written in Matlab

JF-Li5266 /HimLoco-AMP-Lab

AMP-based quadruped locomotion framework on Isaac Lab

csiro-robotics /shc_tutorials

Tutorials for using OpenSHC

godunko /hexapod

Phoenix Hexapod Experiments

mrsp /lcd

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