quadruped 话题在 GitHub 上没有填写简介，这里按 Star 数汇总最相关的热门仓库。
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.
Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
MIT Cheetah I Implementation
精心策划的令人敬畏的机器人描述列表（URDF、MJCF）
超棒的四足机器人
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
深强化学习用于四足机器人移动的MPC控制
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。
基于贝塞尔曲线的动力学与域随机化步态调制，用于仿真到现实的足式运动。
UMI在Legs上：通过以操控为中心的全身控制器让操作政策变得移动化
一个基于ESPN 32的开源四足机器人宠物框架，用于开发波士顿动力公司风格的四足机器人，非常适合STEM、编码和机器人教育、物联网机器人应用、人工智能增强型机器人应用服务、研究和DIY机器人套件开发。
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
TNY - 360 Robot source code and 3d models
TOPS (Traverser of Planar Surfaces) or "SPOT" backwards is a 3D printed Open Source quadrupedal robot
Collection of quadrupedal robots configured to work in CHAMP development framework
DIY 3D printed quadruped robot.
[CVPR2025] CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos