OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

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 model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

dddmr_navigation is the 3D navigation solution for mobile robots includes mapping/localization/perception/path planning/controller/move base

Isaaclab based Parkour locomotion

Learn how to train a quadruped robot to walk using reinforcement learning, from defining actions and observations to designing rewards and transitioning from simulation to reality.

Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP

An Open Source Quadruped-Robot for Simulating and Real Environment

Model Predictive Control in JAX

[ICCV 2025] Perspective-Invariant 3D Object Detection

Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)

spotMicro机器狗中文攻略，纯新手教程！

MIT Cheetah仿真平台源码笔记以及一部分第三方组件

WIP: ESP32 powered robot dog, quadruped robot. This is just code, hardware in the other repositories

HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS

Designed to improve some structures to achieve better performance, and learn the algorithms used in the pupper project.

Official implementation of "Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots"

Four Legged robot design

Unofficial implementaton of the paper DTC: Deep Tracking Control

Official codebase for PRELUDE (Perceptive Locomotion Under Dynamic Environments)

Thie repository provides simulation map environment of ICRA2023 Quadruped Robot Challenges

A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.

ASCC2022 - TROT-Q: TRaversability and Obstacle aware Target tracking system for Quadruped robots

RL applied to robotics.

An official implementation for "OneOcc: Semantic Occupancy Prediction for Legged Robots with a Single Panoramic Camera"

StrideSim is a Nvidia Isaac Sim-based robot simulator, offering a realistic environment and compatibility with ROS2

Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.