legged-robots

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

𓃡 Quadruped Robot based on MIT Cheetah I

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

An Architecture for the Versatile Control of Legged Robots

ESP8266 based quadruped with 8DOF and oscillator based gaits.

Visualization of Motions for Legged Robots in ros-rviz

All Terrain Autonomous Quadruped

OpenSHC: A Versatile Multilegged Robot Controller

The Dynamic Whole-body Locomotion library (DWL)

Visualize Legged Robot Trajectories with Unreal Engine

CHAMP Package Config Generator

Terrain mapping algorithm for motion planning and control in legged locomotion

RL applied to robotics.

Tutorials for using OpenSHC

ROS messages to describe a whole-body state

It contains all the dynamic whole-body locomotion packages

ROS package; legged robot urdf and plugin

my homepage

Double pendulum leg model and control using Pinocchio library in Python

Negotiating difficult terrains has always been a challenging task for wheeled robots. To solve this issue, man has been trying to design various legged robots, taking inspiration from nature. Out of all these legged robots, six legged robots are the most common ones, since 6 legs have an edge over other legged robots considering their stability. In hexapods, generally a tripod gait is in used in which 2 sets of legs(3 each ) are alternatively on the ground. This hexapod is our attempt to tackle the same issue of all terrain driving capabilities. Instead of normal legs we have used C-shaped legs which have an added advantage of climbing obstacles, pretty taller than itself.

The TQ-Mini is an Arduino based 8 DOF quadruped robot.