# mit-biomimetics/Cheetah-Software

Repository: https://github.com/mit-biomimetics/Cheetah-Software
Canonical: https://ross.abutalabs.com/products/cheetah-software
Language: C++
License: MIT
License Family: permissive
Last push: 2023-10-18T20:00:24+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2634, "days_push": 1050, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 3292, forks 1046 (observed 2026-08-28T04:07:53.948730+00:00)

## What it is
MIT Biomimetics' software for the Cheetah 3 and Mini Cheetah quadruped robots, containing a dynamics/common library, robot control programs, and a Qt-based simulator. It supports building controllers in simulation and deploying them to the real robot over SSH.

## Use cases
- simulate quadruped robot locomotion
- develop controllers for Mini Cheetah
- test legged robot control algorithms in simulation
- deploy control code to a real quadruped robot
- study quadruped dynamics and locomotion research

## When to choose
- you are working with Cheetah 3 or Mini Cheetah hardware
- you need a research-grade quadruped simulator and control framework
- you want a reference implementation of legged robot controllers

## When to avoid
- you need a general-purpose robot simulator like Gazebo or MuJoCo
- you work with non-quadruped robots
- you need actively maintained software with recent updates

## Facets
- artifact type: library
- maturity: maintenance
- function: simulation, robotics, machine-learning
- domain: robotics, simulation, developer-tools
- platform: cpp, cross-platform
- tags: quadruped-robot, legged-locomotion, mini-cheetah, cheetah-3, robot-control, simulator, lcm, qt, linux

## Member repositories
- mit-biomimetics/Cheetah-Software (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:53.948730+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T07:22:45.449503+00:00, confidence not recorded.
  - readme: https://github.com/mit-biomimetics/Cheetah-Software (fetched 2026-08-28T04:07:53.948730+00:00, sha 0699b01b077d)
- Data as of 2026-08-30T08:39:29.467469+00:00.