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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

Updated Dec 30, 2020
C++

chinmaynehate / Venom

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All Terrain Autonomous Quadruped

robot spider kinematics python3 ros imu fourier-series kalman-filter legged-robots quadruped legged-robotics ros-kinetic kinematic-modeling autonomous-robots autonomous-navigation legged quadrupeds

Updated May 23, 2021
Python

Derek-TH-Wang / quadruped_ctrl

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

algorithm robot mit simulation terrain ros mpc locomotion quadruped gait pybullet quadruped-robot mini-cheetah

Updated Feb 2, 2021
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chvmp / robots

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Collection of quadrupedal robots configured to work in CHAMP development framework

simulation ros gazebo spot quadruped anymal spotmicro opendog mit-mini-cheetah aliengo open-quadruped littledog dkitty

Updated Jul 18, 2021
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popi-mkx3 / popi_project

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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.

robot ros quadruped popi legged-robot

Updated Jun 26, 2020
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zlingkang / quadruped_9g

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A ROS node that describes a quadruped robot using URDF

robot ros quadruped

Updated Jul 9, 2018
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SovGVD / esp32-robot-dog-code

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

servo esp32 quadruped quadruped-robot robotdog robot-dog

Updated May 17, 2021
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miguelasd688 / Quadruped-dog-like-robot

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DIY project of a quadruped robot as a exercise for programming.

python robot exercise quadruped

Updated May 24, 2020
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grassjelly / cheetah-algorithms

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MIT Cheetah I algorithms in Jupyter Notebook

quadruped quadruped-robot-gaits

Updated May 3, 2020
Jupyter Notebook

mpmumau / Peabot-Library

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Peabot: quadruped robot library for Raspberry Pi

raspberry-pi robot servo artificial-intelligence quadruped servo-positions 9g-servos

Updated Jul 26, 2020
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HitSZwang / mini-cheetah-pybullet

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mpc and wbc for mini cheetah in pybullet

robot mit simulation ros quadruped gait pybullet wbc mpc-control mini-cheetah wholebodycontrol

Updated Nov 20, 2020
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magnusoy / Sparkie

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Sparkie, Autonomous inspections for process industry by a quadruped robot with use of neural networks

python arduino machine-learning robot kinematics ros autonomous sensor-fusion control-theory graphical-user-interface depth-camera quadruped process-industry autonomous-inspections

Updated Sep 26, 2020
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MultipedRobotics / multiped

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Low level driver for a quadruped robot using either AX-12A or XL-320 servos

robot python3 python2 xl-320 quadruped ax-12a

Updated Jan 20, 2021
Python

bostoncleek / quadruped_control

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Quadruped control architecture

optimization planning trajectory-generation quadratic-programming quadruped

Updated May 8, 2021
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ger01d / kinematic-model-opencat

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Inverse kinematic model of quadruped OpenCat robots - Nybble and Bittle.

robotics kinematics quadruped

Updated Mar 20, 2021
Python

BitsRobocon / Quadruped-DIPLOID

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Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present)