MIT Cheetah I Implementation
Isaaclab based Parkour locomotion
HyperDog is a quadruped robot which is fully based on ROS 2 and Micro-ROS
A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.
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
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
MAO - a 12-DOF quadruped with a passive flexible spine, built as a sim-to-real RL testbed: MuJoCo → real hardware.
This is the ROS 2 package for quad_robot simulation.
Rex-Loco-Deploy: A Platform-Adapted Reinforcement-Learning Locomotion and Deployment Framework for a Servo-Actuated Quadruped. A full stack SpotMicro project with Isaac Lab reinforcement learning, STM32 and Nvidia Jetson Orin Nano
A simulator for quadruped design, written using ODE library as the underlying physics engine.
A study of Quadruped Locomotion with Reinforcement Learning methoddsss.....
A study of adaptive terrain building for rl training
Control of Unitree Go2 quadruped using PPO
Reinforcement-learning pipeline for training a Unitree A1 quadruped to learn stable forward locomotion in PyBullet, using PPO as the high-level controller and an explicit joint-level PD controller for low-level torque control, with flat-to-uneven terrain curriculum evaluation.
Robot dog training software built for Isaac Sim
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