Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
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Updated
Jul 8, 2024
Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!
MIT Cheetah I Implementation
Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
All Terrain Autonomous Quadruped
Open-source wheeled biped robots
CHAMP Package Config Generator
Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).
Rviz plugins to display whole-body states and trajectories
[NeurIPS 2022] Official implementation of the paper: "Human-AI Shared Control via Policy Dissection"
Tools for exploiting Morphological Symmetries in robotics
Whole body Inverse Kinematics based on Pinocchio and qpmad
Overleap is an open-source 2 DOF robotic leg that can jump and hop in a circle.
Tutorials for using OpenSHC
climbing simulator written in Matlab
Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
Phoenix Hexapod Experiments
An Eigen tool to visualize in Rviz locomotion-related geometric objects
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
An adaptation of the Stanford Doggo Project for SUTD SOAR
An adaptation of the Stanford Doggo Project for SUTD SOAR
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