An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.

Stanford Doggo is an open source quadruped robot that jumps, flips, and trots!

MIT Cheetah I Implementation

A programmable and highly maneuverable robotic cat for STEM education and AI-enhanced services.

A curated list of awesome robot descriptions (URDF, MJCF)

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

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

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Awesome Quadrupedal Robots

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Deep RL for MPC control of Quadruped Robot 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.

UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers

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

TOPS (Traverser of Planar Surfaces) or "SPOT" backwards is a 3D printed Open Source quadrupedal robot

Collection of quadrupedal robots configured to work in CHAMP development framework

All Terrain Autonomous Quadruped

[CVPR2025] CityWalker: Learning Embodied Urban Navigation from Web-Scale Videos

An ESP32-based open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.

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