MIT Cheetah I Implementation

Isaaclab based Parkour locomotion

HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS

My take on the quadruped Spot Micro robot. Its built around an ESP32 cam microcontroller and utilizes a svelte app to control it

A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.

Gym environment pybullet based for simulating a quadruped (optionally) PEA equipped.

This is a quadruped simulated on pybullet physics engine, walking using trot and bound mechanisms

Unitree Go2 quadruped robot dog — RL locomotion training (MuJoCo + Gazebo Harmonic), ROS2 CHAMP and Quad-SDK NMPC walking controllers, PPO policy, keyboard teleop, and multi-terrain simulation

This is the ROS 2 package for quad_robot simulation.

A simulator for quadruped design, written using ODE library as the underlying physics engine.

A study of Quadruped Locomotion with Reinforcement Learning methoddsss.....

RL pipeline for training a Unitree A1 quadruped to walk in PyBullet using Soft Actor-Critic (SAC) — with curriculum terrain, exponential orientation penalties, TPP camera, and gait analysis.

Control of Unitree Go2 quadruped using PPO

A study of adaptive terrain building for rl training

Robot dog training software built for Isaac Sim