Overview

This project provides an architecture and some key algorithms to control quadruped robots, including state estimator, gait generator, stance and swing leg controllers.

The project now supports A1 robot (Unitree-Robotics) and Lite2A robot (Deep-Robotics). This project can be easily extended to support other quadruped robots such as AlienGO/GO1 (Unitree-Robotics), Jueying/X20(Deep-Robotics) and Anymal. For more information about quadruped robots, check out the following websites

• Unitree Robotics

• Deep Robotics

• AnyRobotics