quadruped-robots

Awesome Quadrupedal Robots

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

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.

A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data

SEROW Framework for N Legged Robot Walking Estimation

CHAMP Package Config Generator

PRCV 2022: The FusionPortable-VSLAM Challenge

[ICRA 2025] We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology.

Inverse Kinematic of Quadruped Robot Leg

Track 5: Cross-Platform 3D Object Detection

[L4DC 2025] Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning

Unitree Go2 quadruped robot dog — RL locomotion training (MuJoCo + Gazebo Harmonic), ROS2 CHAMP and Quad-SDK NMPC walking controllers, PPO policy, keyboard teleop, and multi-terrain simulation

Repository for the cad/code for my quadruped project

Forward Kinematic of Quadruped Robot Leg

Foot End Trajectory of Quadruped Robot

Laying the Groundwork for Quadruped Locomotion Solutions: A Hyperparameter Study for Legged Gym (Based on ViNL work)

Compliance mechanism for force-adaptive RL policies, an approach to make RL policies compliant to external disturbances instead of resisting them under the contacts with the environment, which works within a single RL policy without additional force sensors or an external controller

Main repository for catbot onboard software

AUTinyDane is an open-source, 3D-printed quadruped robotic dog running entirely on a Raspberry Pi. It features a pure Python software stack utilizing open-loop gait generation and analytical inverse kinematics. The project was done at Aarhus University Department of Mechanical Engineering

Robot dog training software built for Isaac Sim