chvmp/champ

MIT Cheetah I Implementation

Language: C++ - Size: 22.6 MB - Last synced at: 30 days ago - Pushed at: 10 months ago - Stars: 1,827 - Forks: 389

nicrusso7/rex-gym

OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

Language: Python - Size: 319 MB - Last synced at: 4 days ago - Pushed at: about 2 years ago - Stars: 1,037 - Forks: 133

ethz-adrl/towr

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Language: C++ - Size: 5.13 MB - Last synced at: 25 days ago - Pushed at: about 2 years ago - Stars: 976 - Forks: 238

robot-descriptions/awesome-robot-descriptions

A curated list of awesome robot descriptions (URDF, MJCF)

Size: 5.09 MB - Last synced at: about 3 hours ago - Pushed at: 6 days ago - Stars: 917 - Forks: 88

LeCAR-Lab/dial-mpc

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Language: Python - Size: 268 MB - Last synced at: 20 days ago - Pushed at: 20 days ago - Stars: 649 - Forks: 73

DRCL-USC/Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

Language: C++ - Size: 105 MB - Last synced at: 4 months ago - Pushed at: 4 months ago - Stars: 421 - Forks: 129

leggedrobotics/free_gait

An Architecture for the Versatile Control of Legged Robots

Language: C++ - Size: 2.08 MB - Last synced at: about 1 month ago - Pushed at: over 5 years ago - Stars: 417 - Forks: 121

leggedrobotics/xpp

Visualization of Motions for Legged Robots in ros-rviz

Language: C++ - Size: 118 MB - Last synced at: about 1 month ago - Pushed at: over 3 years ago - Stars: 328 - Forks: 98

JavierIH/miniKame

ESP8266 based quadruped with 8DOF and oscillator based gaits.

Language: KiCad - Size: 18.6 MB - Last synced at: over 1 year ago - Pushed at: about 8 years ago - Stars: 326 - Forks: 102

legubiao/quadruped_ros2_control

ROS2-Control implementations for Quadruped robots, include sim2real

Language: C++ - Size: 80 MB - Last synced at: about 3 hours ago - Pushed at: about 4 hours ago - Stars: 271 - Forks: 28

upkie/upkie

Open-source wheeled biped robots

Language: C++ - Size: 4.53 MB - Last synced at: 6 days ago - Pushed at: 6 days ago - Stars: 258 - Forks: 35

leggedrobotics/wild_visual_navigation

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

Language: Python - Size: 52.5 MB - Last synced at: about 1 month ago - Pushed at: 5 months ago - Stars: 169 - Forks: 16

csiro-robotics/syropod_highlevel_controller

OpenSHC: A Versatile Multilegged Robot Controller

Language: C++ - Size: 1.38 MB - Last synced at: 11 months ago - Pushed at: almost 4 years ago - Stars: 159 - Forks: 33

chinmaynehate/Venom

All Terrain Autonomous Quadruped

Language: Python - Size: 1.35 MB - Last synced at: 30 days ago - Pushed at: almost 4 years ago - Stars: 158 - Forks: 16

isri-aist/BaselineWalkingController

Humanoid walking controller with various baseline methods

Language: C++ - Size: 10.4 MB - Last synced at: 3 months ago - Pushed at: 3 months ago - Stars: 135 - Forks: 21

chvmp/champ_setup_assistant

CHAMP Package Config Generator

Language: Python - Size: 10 MB - Last synced at: about 1 month ago - Pushed at: over 2 years ago - Stars: 87 - Forks: 24

lupinjia/genesis_lr

Legged Robot environments for reinforcement learning in Genesis

Language: Python - Size: 19.6 MB - Last synced at: about 2 months ago - Pushed at: about 2 months ago - Stars: 75 - Forks: 5

robot-locomotion/dwl

The Dynamic Whole-body Locomotion library (DWL)

Language: C++ - Size: 2.01 MB - Last synced at: almost 2 years ago - Pushed at: over 6 years ago - Stars: 72 - Forks: 34

MichaelMarav/ProbabilisticContactEstimation

Probabilistic Contact State Estimation for Legged Robots in ROS

Language: Python - Size: 13.4 MB - Last synced at: 5 months ago - Pushed at: 5 months ago - Stars: 61 - Forks: 7

isri-aist/CentroidalControlCollection

Collection of centroidal control for legged robots

Language: C++ - Size: 5.56 MB - Last synced at: 9 months ago - Pushed at: 9 months ago - Stars: 57 - Forks: 14

awinkler/ue4_towr

Visualize Legged Robot Trajectories with Unreal Engine

Language: C++ - Size: 38.6 MB - Last synced at: 20 days ago - Pushed at: almost 6 years ago - Stars: 46 - Forks: 8

shbang91/rpc

A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, planning and control modules, visualization tools, plotting and logging utilities, and operator interfaces for robotic systems.

Language: C++ - Size: 477 MB - Last synced at: 1 day ago - Pushed at: 1 day ago - Stars: 44 - Forks: 10

upkie/upkie_description

URDF descriptions for Upkie wheeled bipeds

Language: Python - Size: 11 MB - Last synced at: 7 days ago - Pushed at: 7 days ago - Stars: 35 - Forks: 7

isri-aist/MultiContactController

Humanoid multi-contact motion controller

Language: C++ - Size: 2.63 MB - Last synced at: 3 months ago - Pushed at: 3 months ago - Stars: 30 - Forks: 9

nicrusso7/robot-gym

RL applied to robotics.

Language: Python - Size: 67.5 MB - Last synced at: about 2 years ago - Pushed at: over 3 years ago - Stars: 22 - Forks: 2

robot-locomotion/terrain-server

Terrain mapping algorithm for motion planning and control in legged locomotion

Language: C++ - Size: 1.42 MB - Last synced at: about 2 years ago - Pushed at: about 7 years ago - Stars: 18 - Forks: 13

isri-aist/BaselineFootstepPlanner

Humanoid footstep planner based on baseline methods with graph search

Language: C++ - Size: 902 KB - Last synced at: 6 days ago - Pushed at: 6 days ago - Stars: 17 - Forks: 14

godunko/hexapod

Phoenix Hexapod Experiments

Language: Ada - Size: 690 KB - Last synced at: 4 months ago - Pushed at: 4 months ago - Stars: 15 - Forks: 1

mrsp/whole_body_ik

Whole body Inverse Kinematics based on Pinocchio and qpmad

Language: C++ - Size: 3.72 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 14 - Forks: 1

csiro-robotics/shc_tutorials

Tutorials for using OpenSHC

Size: 2.46 MB - Last synced at: about 2 years ago - Pushed at: about 3 years ago - Stars: 14 - Forks: 3

upkie/mpc_balancer

Model predictive control to balance Upkie wheeled bipeds

Language: Python - Size: 141 KB - Last synced at: 18 days ago - Pushed at: 2 months ago - Stars: 10 - Forks: 0

malteschilling/ddrl_hexapod

Language: Python - Size: 61.1 MB - Last synced at: almost 2 years ago - Pushed at: almost 5 years ago - Stars: 9 - Forks: 0

MichaelMarav/lcd

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

Language: Python - Size: 17.7 MB - Last synced at: about 2 years ago - Pushed at: almost 3 years ago - Stars: 7 - Forks: 0

upkie/ppo_balancer

Train a balancing policy for Upkie by reinforcement learning

Language: Python - Size: 220 KB - Last synced at: about 15 hours ago - Pushed at: about 16 hours ago - Stars: 6 - Forks: 5

upkie/upkie_parts

3D printing and CAD files for Upkie wheeled bipeds

Size: 10.7 MB - Last synced at: 7 days ago - Pushed at: 2 months ago - Stars: 5 - Forks: 4

mrsp/lcd

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

Language: Python - Size: 10.1 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 5 - Forks: 0

2uu/legged_robot

ROS package; legged robot urdf and plugin

Language: C++ - Size: 502 KB - Last synced at: over 1 year ago - Pushed at: almost 6 years ago - Stars: 5 - Forks: 0

wol101/GaitSym5

A musculoskeletal modelling system using ODE, PhysX or MuJoCo backends

Language: C++ - Size: 215 MB - Last synced at: 5 days ago - Pushed at: 5 days ago - Stars: 4 - Forks: 0

AlePuglisi/limbed-robot-control

Robot's Limb MATLAB/Simulink Modeling and Control. URDF to DH conversion. Manipulability analysis

Language: MATLAB - Size: 261 MB - Last synced at: 6 days ago - Pushed at: 2 months ago - Stars: 3 - Forks: 0

robot-locomotion/dwl-distro

It contains all the dynamic whole-body locomotion packages

Size: 6.84 KB - Last synced at: almost 2 years ago - Pushed at: over 6 years ago - Stars: 3 - Forks: 6

abdelrahman-h-abdalla/jet-leg Fork of orsoromeo/jet-leg

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:

Language: Python - Size: 19.1 MB - Last synced at: 2 months ago - Pushed at: 2 months ago - Stars: 2 - Forks: 1

dengxianga/dengxianga.github.io

my homepage

Language: HTML - Size: 20.9 MB - Last synced at: about 2 years ago - Pushed at: over 7 years ago - Stars: 2 - Forks: 1

upkie/new_agent

Template to create new agents and spines for Upkies

Language: C++ - Size: 95.7 KB - Last synced at: 25 days ago - Pushed at: 26 days ago - Stars: 1 - Forks: 1

upkie/pink_balancer

Upkie agent that can balance and crouch

Language: Python - Size: 207 KB - Last synced at: 7 days ago - Pushed at: about 2 months ago - Stars: 1 - Forks: 1

nicolaloi/Reinforcement-Learning-Isaac-Lab-Projects

Multiple experimental environments for Isaac Lab.

Language: Python - Size: 15 MB - Last synced at: 3 months ago - Pushed at: 3 months ago - Stars: 1 - Forks: 0

MasterYip/dial-mpc Fork of LeCAR-Lab/dial-mpc

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Language: Python - Size: 16.2 MB - Last synced at: 22 days ago - Pushed at: 22 days ago - Stars: 0 - Forks: 0

MasterYip/IsaacLab Fork of isaac-sim/IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim

Size: 22.1 MB - Last synced at: about 1 month ago - Pushed at: about 1 month ago - Stars: 0 - Forks: 0

asdfGuest/Legged-Lab

Language: Python - Size: 26.6 MB - Last synced at: 2 months ago - Pushed at: 2 months ago - Stars: 0 - Forks: 0

alefram/FootstepLQR

Implementation of a Dynamic Quadrupedal Locomotion

Language: Python - Size: 9.36 MB - Last synced at: 3 months ago - Pushed at: 3 months ago - Stars: 0 - Forks: 0

kcniii/leggedRobot

Talos robot simulation

Language: Python - Size: 16.6 MB - Last synced at: 11 months ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

RajPShinde/CLAW

An Open Source Quadruped Robot

Language: C++ - Size: 399 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 0 - Forks: 0

saolxs/legged-robots

implementation of ppo on legged robots

Language: Python - Size: 38.2 MB - Last synced at: almost 2 years ago - Pushed at: over 2 years ago - Stars: 0 - Forks: 0

Batou1406/Legged-Robot-Project2

Legged robot : Project 2, MA1 - fall 2021

Language: Python - Size: 4.77 MB - Last synced at: about 2 years ago - Pushed at: over 3 years ago - Stars: 0 - Forks: 0

qleonardolp/pinocchio_2dof_leg_control

Double pendulum leg model and control using Pinocchio library in Python

Language: Python - Size: 76.2 KB - Last synced at: about 2 years ago - Pushed at: almost 4 years ago - Stars: 0 - Forks: 1

Shubham-p-patil/R-hex

Negotiating difficult terrains has always been a challenging task for wheeled robots. To solve this issue, man has been trying to design various legged robots, taking inspiration from nature. Out of all these legged robots, six legged robots are the most common ones, since 6 legs have an edge over other legged robots considering their stability. In hexapods, generally a tripod gait is in used in which 2 sets of legs(3 each ) are alternatively on the ground. This hexapod is our attempt to tackle the same issue of all terrain driving capabilities. Instead of normal legs we have used C-shaped legs which have an added advantage of climbing obstacles, pretty taller than itself.

Language: Arduino - Size: 2.16 MB - Last synced at: about 2 years ago - Pushed at: over 7 years ago - Stars: 0 - Forks: 1