Awesome Quadrupedal Robots

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

A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data

CHAMP Package Config Generator

SEROW Framework for N Legged Robot Walking Estimation

PRCV 2022: The FusionPortable-VSLAM Challenge

[ICRA 2025] We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructed from the robot morphology.

Inverse Kinematic of Quadruped Robot Leg

Track 5: Cross-Platform 3D Object Detection

[L4DC 2025] Morphological-Symmetry-Equvariant Heterogeneous Graph Neural Network for Robotic Dynamics Learning

Repository for the cad/code for my quadruped project

Forward Kinematic of Quadruped Robot Leg

Foot End Trajectory of Quadruped Robot

Laying the Groundwork for Quadruped Locomotion Solutions: A Hyperparameter Study for Legged Gym (Based on ViNL work)

Main repository for catbot onboard software

AUTinyDane is an open-source, 3D-printed quadruped robotic dog running entirely on a Raspberry Pi. It features a pure Python software stack utilizing open-loop gait generation and analytical inverse kinematics. The project was done at Aarhus University Department of Mechanical Engineering

Quadruped robot dog walking simulation and RL policy training

Implmentation of Trust Region Policy Optimization (TRPO) from scratch. Tested on standard mujoco-based gymnasium environments. Extended to a harder task of Quadrupedal Locomotion with the help of gait priors.