Repositories list

• robots

  Public
  Collection of quadrupedal robots configured to work in CHAMP development framework

  simulationrosspot+ 10quadrupedanymalspotmicroopendogaliengoopen-quadrupedlittledog+ 3

  C

  •66•234•8•4•Updated Aug 19, 2024Aug 19, 2024

• champ

  Public
  MIT Cheetah I Implementation

  legged-robotsquadrupedlegged-robotics+ 7gazebo-simulatorquadruped-robot-gaitsgazebo-rosquadruped-simulationroboticsrosgazebo

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •358•1.5k•43•3•Updated Jul 4, 2024Jul 4, 2024

• unitree_ros

  Public
  C++

  •

  Mozilla Public License 2.0

  •260•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

  •16•32•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

  •235•3•0•0•Updated Sep 28, 2022Sep 28, 2022

• champ_setup_assistant

  Public
  CHAMP Package Config Generator

  roboticsroslegged-robots+ 4legged-roboticsquadruped-robot-gaitsquadruped-robotsurdf

  Python

  •

  BSD 3-Clause "New" or "Revised" License

  •23•83•7•0•Updated Sep 20, 2022Sep 20, 2022

• ocs2

  Public
  Optimal Control for Switched Systems

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •227•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

  •22•10•1•0•Updated Aug 5, 2022Aug 5, 2022

• mini-cheetah-gazebo-urdf

  Public
  Python

  •9•8•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

  •19•0•0•0•Updated Oct 24, 2021Oct 24, 2021

• spotmicro_description

  Public
  SpotMicroAI URDF

  HTML

  •7•10•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

  •5•26•1•0•Updated Mar 19, 2021Mar 19, 2021

• spot_ros

  Public
  Python

  •143•3•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 at our YouTube channel.

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •26•1•0•0•Updated Oct 10, 2020Oct 10, 2020

• dynamixel_spot_arm

  Public
  A spot arm clone based on dynamixels

  CMake

  •

  Other

  •3•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

  •38•1•0•0•Updated Sep 13, 2020Sep 13, 2020

• firmware

  Public
  Tiny Brain

  C++

  •

  BSD 3-Clause "New" or "Revised" License

  •5•7•1•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

  •172•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

  •13•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

  •122•0•0•0•Updated Mar 13, 2020Mar 13, 2020