Open-source wheeled biped robots
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Updated
Aug 7, 2024 - C++
Open-source wheeled biped robots
Upkie agent that can balance and crouch
Humanoid multi-contact motion controller
Template to create new agents for Upkie
Humanoid walking controller with various baseline methods
URDF descriptions for Upkie wheeled bipeds
Collection of centroidal control for legged robots
Train a balancing policy for Upkie by reinforcement learning
Model predictive control to balance Upkie wheeled bipeds
A curated list of awesome robot descriptions (URDF, MJCF)
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
A musculoskeletal modelling system using ODE, PhysX or MuJoCo backends
Phoenix Hexapod Experiments
MIT Cheetah I Implementation
An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
3D printing and CAD files for Upkie wheeled bipeds
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
Probabilistic Contact State Estimation for Legged Robots in ROS
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