Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.
☆969Sep 20, 2026Updated this week
Alternatives and similar repositories for quad-sdk
Users that are interested in quad-sdk are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- An open source implementation of MIT Cheetah 3 controllers☆833Dec 5, 2022Updated 3 years ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,807Feb 13, 2025Updated last year
- Optimal Control for Switched Systems☆1,518Sep 7, 2026Updated 2 weeks ago
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆1,082Apr 17, 2023Updated 3 years ago
- ☆192Oct 27, 2022Updated 3 years ago
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- Representation-Free Model Predictive Control for Dynamic Quadruped☆240Feb 28, 2025Updated last year
- Awesome Quadrupedal Robots☆1,163Jul 29, 2026Updated last month
- ☆3,309Oct 18, 2023Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆71Jul 5, 2024Updated 2 years ago
- MIT mini cheetah quadruped robot simulated in pybullet environment using ros.☆361Jun 14, 2022Updated 4 years ago
- MIT Cheetah I Implementation☆2,317Jul 4, 2024Updated 2 years ago
- ☆171Nov 27, 2024Updated last year
- An Open Source Quadruped-Robot for Simulating and Real Environment☆198May 15, 2023Updated 3 years ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆349Mar 28, 2025Updated last year
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- Elevation Mapping on GPU.☆1,105Updated this week
- Deep RL for MPC control of Quadruped Robot Locomotion☆1,028Apr 26, 2026Updated 4 months ago
- Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"☆1,465Mar 24, 2023Updated 3 years ago
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,308Updated this week
- Local Navigation Planner for Legged Robots☆255Aug 9, 2023Updated 3 years ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆324Jun 20, 2026Updated 3 months ago
- WoLF: Whole-body Locomotion Framework for quadruped robots☆135May 12, 2026Updated 4 months ago
- Quadruped control architecture☆92Dec 27, 2021Updated 4 years ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆521Updated this week
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- Isaac Gym Environments for Legged Robots☆3,129May 29, 2025Updated last year
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,176Nov 28, 2023Updated 2 years ago
- Sim-to-real RL training and deployment tools for the Unitree Go1 robot.☆1,454Jun 16, 2024Updated 2 years ago
- A curated list of resources relevant to legged locomotion learning of robotics.☆488Jul 10, 2023Updated 3 years ago
- ☆298Sep 13, 2022Updated 4 years ago
- Code for Rapid Locomotion via Reinforcement Learning☆299Jul 20, 2023Updated 3 years ago
- Efficient optimal control solvers for robotic systems.☆313Dec 22, 2022Updated 3 years ago
- Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to g…☆103Sep 17, 2020Updated 6 years ago
- Robot-centric elevation mapping for rough terrain navigation☆1,871Nov 4, 2024Updated last year
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- Visual-Inertial-Leg Odometry For Legged Robots☆383Jul 23, 2023Updated 3 years ago
- A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives☆3,752Updated this week
- An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.☆590May 20, 2024Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆91Apr 22, 2025Updated last year
- [CoRL 2023] Robot Parkour Learning☆1,128Oct 26, 2025Updated 10 months ago
- A high-level online motion planner for agile legged robots, implemented as a ROS package☆26Jun 8, 2022Updated 4 years ago
- Work done in IHMC Robotics since Aug 2019☆62Sep 8, 2022Updated 4 years ago