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CHAMP

  • Software
  • Humanoids and robot learning
  • Framework

A ROS software framework for building and controlling quadruped robots, with a gait controller, simulation, and navigation support. It targets both new robot designs and developing control algorithms.

  • Stale

Source on GitHub: github.com/chvmp/champ (opens in a new tab). Facts read at commit 7f7d917 (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 7f7d917 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Labels

  • StaleNo commit in 12 months: the newest is from 4 Jul 2024.

What it does

  • Computes joint angles for a quadruped and sends them to a hardware interface that drives the actuators.
  • Supports autonomous navigation through the ROS navigation stack, including mapping with gmapping and localization with amcl.
  • Provides a setup assistant that generates a configuration package for a newly built robot.
  • Ships pre-configured URDF models of several quadrupeds, such as Anymal, MIT Mini Cheetah, Spot and LittleDog.
  • Runs in Gazebo simulation, including spawning multiple robots in one world.
  • Includes a lightweight C++ header-only library and firmware option for running the controller on microcontrollers.

Written by Robotheca from the project's README (opens in a new tab) at commit 7f7d917.

Getting started

Difficulty
Intermediate
Hardware it needs, as the project states it
Tested on Ubuntu 16.04 with ROS Kinetic and Ubuntu 18.04 with ROS Melodic.

Maintenance

Status
Stale: no commit in 12 months
Newest commit
4 Jul 2024 on master
Latest release
None published on GitHub

Checked on GitHub on 16 Oct 2026.

Links

Robots on Robotheca that use it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.