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    37 repositories

    • robots

      Public
      Collection of quadrupedal robots configured to work in CHAMP development framework
      simulationrosgazebo
      simulationrosgazebospotquadrupedanymalspotmicroopendogmit-mini-cheetahaliengo
      C
      •74•267•8•4•Updated Aug 19, 2024Aug 19, 2024

    • champ

      Public
      MIT Cheetah I Implementation
      roboticsrosgazebo
      roboticsrosgazebolegged-robotsquadrupedlegged-roboticsgazebo-simulatorquadruped-robot-gaitsgazebo-rosquadruped-simulation
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •431•2.2k•51•3•Updated Jul 4, 2024Jul 4, 2024

    • unitree_ros

      Public
      C++
      •
      Mozilla Public License 2.0
      •425•2•0•0•Updated Apr 20, 2024Apr 20, 2024

    • yocs_velocity_smoother

      Public
      3DOF Velocity Smoother
      C++
      •
      Other
      •8•0•0•1•Updated Jan 23, 2023Jan 23, 2023

    • libchamp

      Public
      Champ C++ Header Files
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •17•34•0•0•Updated Nov 29, 2022Nov 29, 2022

    • legged_control

      Public
      Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •352•5•0•0•Updated Sep 28, 2022Sep 28, 2022

    • champ_setup_assistant

      Public
      CHAMP Package Config Generator
      roboticsrosurdf
      roboticsrosurdflegged-robotslegged-roboticsquadruped-robot-gaitsquadruped-robots
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •27•92•8•0•Updated Sep 20, 2022Sep 20, 2022

    • ocs2

      Public
      Optimal Control for Switched Systems
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •323•0•0•0•Updated Sep 19, 2022Sep 19, 2022

    • mini_pupper_description

      Public
      Mini Pupper Robot Description (URDF)
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •2•0•0•0•Updated Aug 9, 2022Aug 9, 2022

    • champ_teleop

      Public
      6DOF Teleoperation package to maneuver CHAMP
      Python
      •27•12•1•0•Updated Aug 5, 2022Aug 5, 2022

    • mini-cheetah-gazebo-urdf

      Public
      Python
      •8•13•0•3•Updated Mar 3, 2022Mar 3, 2022

    • anymal_c_simple_description

      Public
      Simplified robot description of the ANYmal C quadrupedal robot.
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •24•0•0•0•Updated Oct 24, 2021Oct 24, 2021

    • spotmicro_description

      Public
      SpotMicroAI URDF
      HTML
      •8•12•0•0•Updated Jun 2, 2021Jun 2, 2021

    • pychamp

      Public
      Python
      •2•13•0•0•Updated May 30, 2021May 30, 2021

    • pybullet-experiment

      Public
      Python
      •0•0•0•0•Updated May 11, 2021May 11, 2021

    • chicken_head

      Public
      CHAMP doing chicken head
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •6•29•1•0•Updated Mar 19, 2021Mar 19, 2021

    • spot_ros

      Public
      Python
      •149•4•0•0•Updated Jan 30, 2021Jan 30, 2021

    • popi_project

      Public
      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 a…
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •24•1•0•0•Updated Oct 10, 2020Oct 10, 2020

    • dynamixel_spot_arm

      Public
      A spot arm clone based on dynamixels
      CMake
      •
      Other
      •2•6•0•0•Updated Oct 7, 2020Oct 7, 2020

    • anymal_b_simple_description

      Public
      simplified robot description of the ANYmal B quadrupedal robot
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •44•2•0•0•Updated Sep 13, 2020Sep 13, 2020

    • firmware

      Public
      Tiny Brain
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •5•9•2•0•Updated Sep 12, 2020Sep 12, 2020

    • spot_mini_mini

      Public
      Deploying minimal-body-acceleration policy on Spot Micro quadruped using Reinforcement Learning as an Optimization Technique over an Open-Loop Bezier Gait.
      Python
      •
      MIT License
      •192•4•0•0•Updated Aug 7, 2020Aug 7, 2020

    • opendog_description

      Public
      CMake
      •4•10•0•0•Updated Aug 6, 2020Aug 6, 2020

    • dkitty_description

      Public
      CMake
      •0•0•0•0•Updated Aug 1, 2020Aug 1, 2020

    • robel-scenes

      Public
      Shared MuJoCo simulation scenes and assets for ROBEL environments.
      Apache License 2.0
      •11•0•0•0•Updated Jul 31, 2020Jul 31, 2020

    • attentionagent.github.io

      Public
      Web version of “Neuroevolution of Self-Interpretable Agents” (https://arxiv.org/abs/2003.08165)
      JavaScript
      •
      Creative Commons Attribution 4.0 International
      •8•0•0•0•Updated Jul 15, 2020Jul 15, 2020

    • champ_moveit_config

      Public
      CHAMP - Manipulator integration using MoveIt!
      CMake
      •0•1•0•0•Updated Apr 19, 2020Apr 19, 2020

    • MiniCheetah_description

      Public
      CMake
      •2•0•0•0•Updated Apr 17, 2020Apr 17, 2020

    • robot_state_plugin

      Public
      RVIZ Plugin to visualize URDF without TF
      C++
      •1•0•0•0•Updated Apr 6, 2020Apr 6, 2020

    • urdf-loaders

      Public
      URDF Loaders for Unity and THREE.js with example ATHLETE URDF Files
      JavaScript
      •
      Apache License 2.0
      •216•1•0•0•Updated Mar 13, 2020Mar 13, 2020
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