qiayuanl/legged_control

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1793 stars · 361 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

legged_control is a C++ control framework for legged robots combining nonlinear model predictive control (NMPC), whole-body control (WBC), and state estimation, built on OCS2 and ros-controls. It supports simulation and real-robot deployment (e.g., Unitree A1) with a sim2real pipeline.

Use cases

• control a quadruped robot with MPC
• deploy a walking controller on a Unitree A1
• simulate legged robot locomotion in Gazebo
• build a custom robot controller on ros-control
• study sim2real for legged locomotion
• implement whole-body control for a biped or quadruped

When to choose

• you need a high-performance open-source model-based baseline for legged locomotion
• you want to deploy NMPC+WBC on a real quadruped quickly
• your robot integrates with the ros-control interface

When to avoid

• you need actively maintained software - the authors have abandoned this project
• you need perception-integrated locomotion out of the box (see legged_perceptive instead)
• you want a learning-based (RL) locomotion stack

Facets

framework · maturity abandoned

robotics simulation machine-learning middleware robotics simulation developer-tools cpp legged-robots nmpc wbc state-estimation sim2real quadruped ocs2 ros-control linux ros

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markdown · JSON · MCP: product_card(name="qiayuanl/legged_control")