Legged robots
Robots that walk.
- Open Duck MiniOpen source
A small open-source bipedal robot inspired by Disney's BD-1 duck.
- Unitree RL GymOpen source
Reinforcement learning environments for Unitree Go2, H1 and G1 robots.
- Spot
Boston Dynamics' quadruped, programmable through an open Python SDK.
- Humanoid-GymOpen source
RL for humanoid locomotion with zero-shot sim-to-real transfer.
- Berkeley Humanoid LiteOpen source
An open, 3D-printable, mid-scale humanoid for under $5,000.
- PupperOpen source
An open-source quadruped robot you can build for under $1000.
- Walk These WaysOpen source
Robust quadruped locomotion via multiplicity of behavior.
- Poppy ProjectOpen source
Open-source 3D-printed humanoid and robot platforms for education and research.
- Spot Mini MiniOpen source
Low-cost 12-DoF servo quadruped with RL-ready simulation.
- K-BotOpen source
Open-source humanoid robots and software stack.
- Mini PupperOpen source
ROS 2 quadruped robot for education, evolved from Stanford Pupper.
