OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
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Updated
Mar 24, 2023 - Python
OpenAI Gym environments for an open-source quadruped robot (SpotMicro)
All Terrain Autonomous Quadruped
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
CHAMP Package Config Generator
Probabilistic Contact State Estimation for Legged Robots in ROS
URDF descriptions for Upkie wheeled bipeds
RL applied to robotics.
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
Model predictive control to balance Upkie wheeled bipeds
Train a balancing policy for Upkie by reinforcement learning
This package computes the Improved Feasible Region. This is an intersection between the Feasible Region (Orsolino, 2020) and the Reachable Region (a 2D level area representing the CoM reachable workspace). The details are explained in this preprint:
Double pendulum leg model and control using Pinocchio library in Python
implementation of ppo on legged robots
Legged robot : Project 2, MA1 - fall 2021
Upkie agent that can balance and crouch
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