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Cheetah-Software

  • Software
  • Humanoids and robot learning
  • Framework

A robot and simulation software project for MIT Biomimetics' Cheetah quadruped robots, with a shared dynamics library, robot control code, and a Qt-based simulator.

  • Stale

Made by MIT Biomimetic Robotics Lab, United States (checked on github.com/mit-biomimetics (opens in a new tab)).

Source on GitHub: github.com/mit-biomimetics/Cheetah-Software (opens in a new tab). Facts read at commit c71c5a1 (opens in a new tab).

Licenses

Code
MIT (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit c71c5a1 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Labels

  • StaleNo commit in 12 months: the newest is from 21 Nov 2019.

What it does

  • Provides a common library with dynamics and utilities shared by the robot and simulator.
  • Includes a robot control program that runs on the robot itself.
  • Includes a simulator, the only component that depends on Qt, used to test controllers before running on hardware.
  • Builds with CMake and downloads gtest automatically for running common library tests.
  • Supports building for the Mini Cheetah via a CMake flag and copying the program to the robot over ethernet.
  • Controllers are run against the simulator or the robot by passing the robot name and target system as arguments.

Written by Robotheca from the project's README (opens in a new tab) at commit c71c5a1.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Qt 5.10, LCM, Eigen, mesa-common-dev, freeglut3-dev, libblas-dev and liblapack-dev are listed as dependencies; Cheetah 3 or Mini Cheetah robot with an ethernet connection for running on hardware.

Maintenance

Status
Stale: no commit in 12 months
Newest commit
21 Nov 2019 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.