Awesome Quadrupedal Robots
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Jun 15, 2026 - Python
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quadruped-robots
Here are 21 public repositories matching this topic...
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
open-source machine-learning environment control reinforcement-learning optimization terrain openai-gym ros locomotion spot walker quadruped gait openai-gym-environments pybullet gym-environment quadruped-robot-gaits quadruped-robots quadruped-robot
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Oct 5, 2022 - C++
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.
machine-learning control reinforcement-learning robotics trajectory-generation locomotion 3d-printing trajectory bezier-path quadruped gait gait-generation quadruped-robots quadruped-robot
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Aug 23, 2024 - C++
A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data
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Jun 11, 2026 - C++
SEROW Framework for N Legged Robot Walking Estimation
real-time cpp robotics ros gazebo outlier-detection state-estimation humanoids humanoid-robots humanoid-walking bipedal-robots base-estimation center-of-mass quadruped-robots bipeds
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Jun 17, 2026 - C++
CHAMP Package Config Generator
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Sep 20, 2022 - Python
PRCV 2022: The FusionPortable-VSLAM Challenge
challenge slam visual-inertial-odometry stereo-camera handheld-devices multi-sensor-fusion quadruped-robots event-camera apollo-vehilce fusionportable
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Aug 26, 2022 - Python
[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.
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Feb 2, 2026 - Python
Inverse Kinematic of Quadruped Robot Leg
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Apr 21, 2022 - C++
Track 5: Cross-Platform 3D Object Detection
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Aug 16, 2025 - Python
[L4DC 2025] Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning
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Dec 6, 2025 - Python
Repository for the cad/code for my quadruped project
arduino teensy robot robotics servo pcb platformio cad servo-motor quadruped teensy40 quadruped-robots quadruped-robot teensy41
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Jul 17, 2021 - C++
Forward Kinematic of Quadruped Robot Leg
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Apr 17, 2020 - C++
Foot End Trajectory of Quadruped Robot
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Jun 8, 2020 - MATLAB
Laying the Groundwork for Quadruped Locomotion Solutions: A Hyperparameter Study for Legged Gym (Based on ViNL work)
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Oct 15, 2024 - Jupyter Notebook
Main repository for catbot onboard software
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Nov 22, 2025 - Python
Unitree Go2 quadruped robot dog — RL locomotion training (MuJoCo + Gazebo Harmonic), ROS2 CHAMP walking controller, PPO policy, keyboard teleop, and multi-terrain simulation
reinforcement-learning deep-reinforcement-learning gazebo locomotion gymnasium legged-robots ros2 mujoco ppo robot-simulation walking-robot champ quadruped-robots quadruped-simulation stable-baselines3 unitree-go2
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May 17, 2026 - Python
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
open-source raspberry-pi robotics control-systems control-theory quadruped quadruped-robot-gaits quadruped-robots four-legged four-legged-robot quadruped-robot quadrupedal-robot-gait quadruped-control raspberry-pi-5
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Apr 19, 2026 - Python
Implmentation of Trust Region Policy Optimization (TRPO) from scratch. Tested on standard mujoco-based gymnasium environments. Extended to a harder task of Quadrupedal Locomotion with the help of gait priors.
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Dec 11, 2025 - Python
Unitree Robotics — Hangzhou-based quadruped (Go1/Go2/B1/B2) and humanoid (H1/G1) robot manufacturer; SDK-centric developer surface
education sdk research reinforcement-learning robotics hardware simulation ros lidar dds teleoperation humanoid-robots quadruped-robots embodied-ai robot-dog industrial-inspection dexterous-manipulation vision-language-action
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Jun 15, 2026
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