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An Architecture for the Versatile Control of Legged Robots
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| 2026-07-24 | 448 |
| 2026-07-25 | 448 |
| 2026-07-28 | 448 |
| 2026-07-30 | 448 |
| 2026-08-06 | 448 |
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# Free Gait
**An Architecture for the Versatile Control of Legged Robots**
***NOTICE: This software is not supported anymore! The authors of this software have changed their affiliation and do not work on this project anymore. Please excuse any inconvenience this might cause. If you are interested in working with the ANYmal robot, please reach out to [ANYbotics](https://www.anybotics.com/).***
[](https://www.youtube.com/watch?v=EI1zBTYpXW0)
*Free Gait* is a software framework for the versatile, robust, and task-oriented control of legged robots. The Free Gait interface defines a *whole-body abstraction layer* to accommodate a variety of task-space control commands such as end effector, joint, and base motions. The defined motion tasks are tracked with a feedback whole-body controller to ensure accurate and robust motion execution even under slip and external disturbances. The application of this framework includes intuitive tele-operation of the robot, efficient scripting of behaviors, and fully autonomous operation with motion and footstep planners.
The source code is released under a [BSD 3-Clause license](LICENSE).
**Author: Péter Fankhauser<br />
With contributions by: Samuel Bachmann, Dario Bellicoso, Thomas Bi, Remo Diethelm, Christian Gehring**
This projected was initially developed at RSL, ETH Zurich.
[](https://ci.leggedrobotics.com/job/github_leggedrobotics/job/free_gait/job/master/)
## Publications
If you use this work in an academic context, please cite the following publication(s):
* P. Fankhauser, D. Bellicoso, C. Gehring, R. Dubé, A. Gawel, M. Hutter,
**"Free Gait – An Architecture for the Versatile Control of Legged Robots"**,
in IEEE-RAS International Conference on Humanoid Robots, 2016. ([PDF](https://www.researchgate.net/publication/312111333))
@inproceedings{Fankhauser2016FreeGait,
author = {Fankhauser, P{\'{e}}ter and Bellicoso, C. Dario and Gehring, Christian and Dub{\'{e}}, Renaud and Gawel, Abel and Hutter, Marco},
booktitle = {IEEE-RAS International Conference on Humanoid Robots},
title = {{Free Gait – An Architecture for the Versatile Control of Legged Robots}},
year = {2016},
}
## Unit Tests
catkin build free_gait_core --no-deps --verbose --catkin-make-args run_tests
## Overview
[This video](https://www.youtube.com/watch?v=EI1zBTYpXW0) shows some of the applications of Free Gait.
| [](free_gait_core/doc/notions_and_coordinate_systems.pdf) | [](free_gait_core/doc/motion_examples.jpg) | [](free_gait_core/doc/control_scheme.pdf) |
| :-- | :-- | :-- |
| Motions are based on a combination of (possibly multiple) leg motions and a base motion per command (step). | The command structure allows to control legged robots in various ways. | Motion goals are commanded through the Free Gait API to the whole-body motion controller. |
## Usage
[This video](https://www.youtube.com/watch?v=PNJZvCCOmD8) presents an overview over the tools provided in Free Gait.
### Free Gait Actions
Free Gait actions are libraries and scripts that define motions using the Free Gait API (for ROS ). For ROS, these actions can be write in any language with a ROS client library using the message and action definitions in *[free_gait_msgs]*. For C++, Free Gait provides the *[free_gait_core]* library to work with motion definitions and the *[free_gait_ros]* for interfacing ROS. To work with Python, use the *[free_gait_python]* library. For simple motion definitions, Free Gait supports actions defined in [YAML] format. For more inforExcerpt of 8,631 characters
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matched fp:f40f638f34405319, topic:robotics, topic:ros, readme:humanoid