voltdog/mors_quadruped

MIT Cheetah I Implementation

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

Mujoco Gym environment for the control of quadruped robots

All Terrain Autonomous Quadruped

Albert: a small quadruped that learns to walk with PPO in MuJoCo and runs the policy on an ESP32

An IsaacLab DirectEnv for basic quadrupedal locomotion tasks, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

An IsaacLab DirectEnv for quadrupedal locomotion under motor failures, with support for multiple quadruped robots, sim-to-sim, and sim-to-real pipelines