Just sharing my most recent project CHAMP, an open source development framework for building new quadrupedal robots. I’m currently working on the hardware documentation but the software stack is already up.
There’s a setup assistant that allows users to configure newly built robots by using URDF or manually feeding the translation between joints.
If you’re interested to check out the features, there are demos available without the need of a physical robot: https://github.com/chvmp/champ
Here’s the robot walking:
Feel free to comment, or ping me if you have any questions.
(Disclaimer: CHAMP does not own any of the robots in the first photo nor is it related to the individuals/companies/institutions that developed the robots. These are purely based on publicly released URDF files that have been configured to work with the CHAMP controller.)