RHexLib is a real-time control software library, initially designed by me and Eric Klavins for controlling the RHex robot. It is sufficiently general to be used on other robotic platforms such as the CMU deminer robot and CalTech's multi-robotic testbed. The current version is implemented in C++ and runs under QNX and Linux.

• old project home is hosted by SourceForge
• latest public downloads can be found here

SimSect is a simulation engine for hybrid dynamical systems, written in C++. It was originally designed for integrating the hybrid equations of motion for a simple compliant hexapod model, but it can be used to implement other systems as well.

• latest public downloads can be found here
• uses Geomview for visualization