🐕 Orion is a ROS2-driven, 12-DOF quadruped robot dog that I designed, built, and programmed from scratch.
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Oct 7, 2026 - C
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quadruped-control
Here are 8 public repositories matching this topic...
Open-source quadruped robot locomotion framework based on MPC+WBC with vision for suitable foothold selection. Simulated in MuJoCo and ROS2-compatible
cpp simulation mpc locomotion whole-body-control lcm legged-robots height-map ros2 quadruped model-predictive-control mujoco wbc quadruped-robot wbic mit-cheetah legged-locomotion quadruped-control perceptive-locomotion quadruped-locomotion
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Oct 26, 2026 - C++
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
open-source raspberry-pi robotics control-systems control-theory quadruped quadruped-robot-gaits quadruped-robots four-legged four-legged-robot quadruped-robot quadrupedal-robot-gait quadruped-control raspberry-pi-5
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Apr 19, 2026 - Python
Control and simulation of a quadruped robot in ROS
opencv ros control-systems rviz legged-robotics gazebo-ros quadruped-robot ros-noetic quadruped-control
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Jan 4, 2023 - C++
Teaching a quadruped robot to walk with reinforcement learning.
reinforcement-learning reinforcement-learning-algorithms quadruped reinforcement-learning-agent reinforcementlearning reinforcement-learning-environments quadruped-robot-gaits quadrupeds quadruped-robots quadruped-robot quadruped-simulation quadrupedal-robots quadrupedal-robot-gait quadruped-control quadruped-locomotion
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Nov 6, 2026 - Python
A PyTorch implementation of the TD3 (Twin Delayed Deep Deterministic Policy Gradient) algorithm applied to quadruped robot locomotion control. Trained on two environments of increasing complexity: the MuJoCo Ant (8 degrees of freedom) and ANYbotics' ANYmal (12 degrees of freedom) in the Gym Jiminy physics simulation.
reinforcement-learning deep-learning deep-reinforcement-learning mujoco actor-critic-algorithm td3 anymal robot-simulation td3-pytorch quadruped-control
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May 9, 2026 - Jupyter Notebook
Open-source quadruped robot project featuring CAD models, 3D-printable parts, electronics, and control software.
open-source esp8266 robot robotics servo robot-framework robots robotics-competition open-source-project servo-controller quadruped robotics-programming esp8266-webserver esp8266-projects quadruped-robot-gaits quadruped-robots quadruped-robot quadruped-control robot-cat quaddle
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Oct 23, 2026 - C++
Quadruped robot stabilization using fuzzy control based on IMU sensor readings, implementing gait planning and inverse kinematics for balanced movement.
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Mar 23, 2025 - Python
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