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Linphone - Linphone is an internet phone or Voice Over IP phone (VoIP).
YateClient - YateClient is an Instant Messenger and a SoftPhone.
Zoiper - Cross-platform VoIP softphone dialer for SIP and IAX systems
Sipdroid - Free and open-source SIP/VoIP Client
FreeSWITCH - FreeSWITCH is an open-source media application designed to support popular protools such as SIP and WebRTC and provides a platform to develop voice and video applications.
Sipnetic - Sipnetic is a free VoIP softphone based on the SIP protocol.