QuadraTot is a project for Cornell's Artificial Intelligence class, CS 4700, by Diana Hidalgo, Sarah Nguyen, and Jason Yosinski.
Code includes several learning algorithms, motion models, and robot abstraction using pydynamixel. The project's Trac site is also a good resource.
See also the Aracna open source robot, for which 3D design files and drivers are also available.