MainLeg

MainLeg is a modular, open-source robotics framework designed to facilitate the development of humanoid and quadrupedal robots. Created by a team of researchers and engineers, it emphasizes flexibility, scalability, and ease of integration with various hardware and software components. The framework is particularly well-suited for academic research, prototyping, and educational applications, offering a structured approach to robot control, motion planning, and sensor fusion.

At its core, MainLeg provides a hierarchical control architecture that separates high-level decision-making from low-level execution. This modularity allows developers to customize and extend functionality without overhauling the entire system. The framework supports a wide range of actuators, sensors, and communication protocols, making it adaptable to different robotic platforms. It also includes tools for inverse kinematics, trajectory generation, and real-time state estimation, which are essential for dynamic movement and stability.

MainLeg is built on a combination of C++ for performance-critical components and Python for scripting and higher-level logic, ensuring compatibility with existing robotics toolkits like ROS (Robot Operating System). The open-source nature of the project encourages collaboration, with contributions from the community shaping its evolution. Documentation and tutorials are provided to assist new users in integrating the framework into their projects.

While primarily targeted at researchers and developers, MainLeg’s intuitive design also makes it accessible to students and hobbyists exploring robotics. Its emphasis on modularity and open standards helps bridge the gap between theoretical concepts and practical implementation, fostering innovation in autonomous robotics.