# chvmp/champ

MIT Cheetah I Implementation

Repository: https://github.com/chvmp/champ
Canonical: https://ross.abutalabs.com/products/chvmp-champ
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: ros, robotics, quadruped-robot-gaits, legged-robots, legged-robotics, gazebo, quadruped, gazebo-simulator, gazebo-ros, quadruped-simulation
Last push: 2024-07-04T00:40:17+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": 2671, "days_push": 791, "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 2305, forks 445 (observed 2026-08-28T04:06:35.716415+00:00)

## What it is
CHAMP is an open-source ROS-based development framework for building quadruped robots and developing locomotion control algorithms, based on the MIT Cheetah hierarchical controller. It includes Gazebo simulation, a setup assistant, pre-configured URDFs for popular quadrupeds, and a lightweight header-only C++ library for embedded controllers.

## Use cases
- simulate a quadruped robot in gazebo
- build a DIY four-legged walking robot
- develop new legged locomotion control algorithms
- run SLAM and autonomous navigation on a quadruped
- configure a custom quadruped robot URDF
- control a quadruped from a microcontroller

## When to choose
- you are building or researching quadruped/legged robots with ROS
- you want Gazebo simulation and navigation stack integration out of the box
- you need a lightweight controller that runs on SBCs or microcontrollers

## When to avoid
- you need biped, wheeled, or aerial robot locomotion
- you work outside the ROS ecosystem
- you need a commercial-grade supported robotics platform

## Facets
- artifact type: framework
- maturity: active
- function: robotics, simulation, middleware
- domain: robotics, simulation, developer-tools
- platform: cpp, python
- tags: quadruped-robot, legged-robotics, gazebo, ros-navigation, mit-cheetah, quadruped-gaits, slam, urdf, linux, ros

## Member repositories
- chvmp/champ (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:06:35.716415+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 2026-08-30T02:39:41.966120+00:00, confidence not recorded.
  - readme: https://github.com/chvmp/champ (fetched 2026-08-28T04:06:35.716415+00:00, sha 09434c009976)
- Data as of 2026-08-30T08:39:29.467469+00:00.