Legged robots
Robots that walk.
- OpenCatOpen source
Open-source quadruped robotic pet framework for Bittle and Nybble.
- 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.
- MIT Mini CheetahOpen source
Locomotion controller software for the MIT Cheetah robots.
- Spot
Boston Dynamics' quadruped, programmable through an open Python SDK.
- SpotMicroOpen source
3D-printed miniature quadruped inspired by Boston Dynamics' Spot.
- 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.
- SoloOpen source
Torque-controlled open-source quadruped and actuator modules.
- 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.
- HopeJROpen source
Open-source humanoid arm and hand from The Robot Studio.
- Hexapod SimulatorOpen source
A browser-based hexapod kinematics simulator to design gaits and legs.
- OpenDogOpen source
James Bruton's open-source robot dog with ODrive-powered actuators.
- K-BotOpen source
Open-source humanoid robots and software stack.
- OpenLoongOpen source
Open-source humanoid robot control framework from Shanghai.
- InMoovOpen source
The first open-source 3D-printed life-size humanoid.
- Otto DIYOpen source
The 3D-printed biped that thousands of classrooms build first.
- Mini PupperOpen source
ROS 2 quadruped robot for education, evolved from Stanford Pupper.
- Hexapod ROS
A ROS hexapod stack with 2D and 3D mapping on Dynamixel legs.
- Rookidroid HexapodOpen source
A 3D-printed 18-servo hexapod with ESP32 firmware and gait control.
- iCubOpen source
The open-source child-sized humanoid for cognitive robotics.
- mjbots quad A1
A research quadruped built entirely from moteus brushless actuators.
- Pepper and NAOOpen source
The classic social robots, driven from ROS 2 through the NAOqi bridge.
