legged-robots 开源项目推荐（184 个）

chvmp /champ

MIT Cheetah I Implementation

LuwuDynamics /xgoduck_hardware

Build your own robot duck. XGO-Duck is a 3D-printable biped powered by Arduino UNO Q and 15 servos, adapted from Pollen Robotics' Microduck. Includes mechanical models, PCB designs, a BOM, and an assembly guide. Build it, explore its motion, and make it your own.

robot-descriptions /awesome-robot-descriptions

精心策划的令人敬畏的机器人描述列表（URDF、MJCF）

PetoiCamp /OpenCat-Old

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

nicrusso7 /rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

ethz-adrl /towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

LeCAR-Lab /dial-mpc

论文《基于全序采样的MPC通过扩散式退火实现扭矩级运动控制》的官方实现。DIAL-MPC 是一种创新的基于采样的 MPC 框架，用于腿式机器人全阶扭矩级控制，兼具精度和灵活性，且无需训练。

legubiao /quadruped_ros2_control

ROS2-Control实现的四足机器人包括sim2real

JavierIH /miniKame

ESP8266 based quadruped with 8DOF and oscillator based gaits.

DRCL-USC /Hector_Simulation

HECTOR仿人机器人运动控制/双足运动控制/基于力和力矩的MPC仿真软件（ROS/MATLAB）

upkie /upkie

Open-source wheeled biped robots

leggedrobotics /free_gait

An Architecture for the Versatile Control of Legged Robots

ouguangjun /Leg-KILO

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

lupinjia /LeggedGym-Ex

legged robot environments for reinforcement learning in multiple simulators (IsaacGym, Genesis, IsaacSim)

leggedrobotics /xpp

Visualization of Motions for Legged Robots in ros-rviz

leggedrobotics /wild_visual_navigation

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

jrapudg /RTWholeBodyMPPI

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.

csiro-robotics /syropod_highlevel_controller

OpenSHC：多功能多足机器人控制器

isri-aist /BaselineWalkingController

Humanoid walking controller with various baseline methods

chinmaynehate /Venom

All Terrain Autonomous Quadruped