robot-gym

MIT Cheetah I Implementation

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

A curated list of awesome robot descriptions (URDF, MJCF)

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

An Architecture for the Versatile Control of Legged Robots

Visualization of Motions for Legged Robots in ros-rviz

ROS2-Control implementations for Quadruped robots

Open-source wheeled biped robots

Line follower robot simulator environment for Open AI Gym.

Here is everything you need to know about POPI, our open-source quadruped robot. If you want to check the videos we will release about it, you can have a look at our YouTube channel.