champ
An open-source ROS-based quadruped controller framework for building and controlling legged robots, based on MIT Cheetah research.
What is champ?
CHAMP is an open-source ROS-based quadruped controller framework that implements the MIT Cheetah control algorithms for legged robots. It provides tools for configuring, simulating, and autonomously operating custom quadruped robots, enabling researchers and developers to build and test advanced locomotion systems without proprietary software.
Robotics researchers, hobbyists building DIY quadrupeds (e.g., SpotMicroAI), and developers working on legged robot control and autonomous navigation.
CHAMP offers a complete, modular framework with pre-configured robot models, simulation support, and a lightweight library that runs on both SBCs and microcontrollers, making advanced quadruped control accessible to open-source projects.
Overview
MIT Cheetah I Implementation
Use Cases
Best For
- Building custom quadruped robots from scratch
- Simulating legged robot locomotion in Gazebo
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