This repo contains a report (PDF) and five folders, each folder containing 7 files each. The folders correspond to a biped robot (2D), two one-legged robots (2D and 3D) and two four-legged robots (2D and 3D).
Kindly refer to the Appendix in my report for installation and simulation steps. Ensure that you have ODE installed already.
Simulation Videos: https://www.youtube.com/playlist?list=PLnj7y7LL42Gt6VvOh8YzYUvMQzWtFuMrF