Hexapods, Quadrupeds, and Robot Arms
mithi opened this issue Ā· comments
STL Files of a hexapod with 9g micro servos (mg90s)
https://github.com/PCrnjak/3D-printed-Hexapod
https://github.com/nanicalabs/3D-printed-Hexapod
https://www.instructables.com/id/3D-Printed-18DOF-Hexapod/
Quadruped (sprawling type) sample code made by yours truly
Robot Arms Articles
Gradient Descent Inverse Kinematics for 6DOF robot arms
https://www.marginallyclever.com/2020/04/gradient-descent-inverse-kinematics-for-6dof-robot-arms/
Alan Zucconi
https://www.alanzucconi.com/2017/04/10/robotic-arms/
Robot Arm simulator for the web
https://github.com/glumb/robot-gui
https://github.com/glumb/kinematics
Six Axis Robot arm in unity
https://meuse.co.jp/?p=885
https://meuse.co.jp/?p=2732
Robot kinematics and calibration for arms described by modified dh parameters
https://github.com/nnadeau/pybotics
EvoArm
https://github.com/nanicalabs/EvoArm
Robot arm joint rotations visualization
https://www.youtube.com/watch?v=7coUcEHxnYA
https://www.youtube.com/watch?v=_oL30hxtwPY
3D visualization of the Inverse Kinematic of an industrial robot with 6 degrees of freedom(Kuka)
RoblabWHGe
https://www.youtube.com/watch?v=3s2x4QsD3uM&t=3s
pseudo inverse jacobian
CBlissMath - https://www.youtube.com/watch?v=pTUfUjIQjoE
Look MA! Studio -https://www.youtube.com/watch?v=HRU1Tlv0GtQ
Jacobian Pseudoinverse
Damped Least Square
Jacobian Transpose with fixed step size
Jacobian Transpose with varying step size
CCD approaches.
https://www.youtube.com/watch?v=XdMDuWD8jlk
Open source quadruped robots
Spot Mini Mini By Maurice Rahme
https://github.com/OpenQuadruped/spot_mini_mini
https://moribots.github.io/project/spot-mini-mini
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
Standford Quadruped
https://github.com/stanfordroboticsclub/StanfordQuadruped
Open Quadruped
https://github.com/adham-elarabawy/open-quadruped
IK_Model.pdf
James Brutton open dog
https://github.com/XRobots/openDog
https://github.com/XRobots/miniDogV2
Spot Micro AI
https://spotmicroai.readthedocs.io/en/latest/
https://www.thingiverse.com/thing:3445283
https://gitlab.com/custom_robots/spotmicroai/simulation
Opencat and Bittle
Gait and Trajectory Optimization for Legged
Systems through Phase-based End-Effector
Parameterization
Alexander W. Winkler1
, C. Dario Bellicoso2
, Marco Hutter2
, Jonas Buchli1
https://storage.googleapis.com/concise-hue-230505.appspot.com/pdfs/18-ral-winkler.pdf
Optimization-based motion planningfor legged robots
https://www.alex-winkler.com/#sec-landing
https://www.alex-winkler.com/phd-thesis.html#pf15
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
https://github.com/ethz-adrl/towr
Cornell Ranger, 2011-2012
4-legged bipedal robot
http://ruina.tam.cornell.edu/research/topics/locomotion_and_robotics/ranger/Ranger2011/
resources
Resources on various topics being worked on at IvLabs
https://ivlabs.github.io/resources/control-theory/
https://ivlabs.github.io/resources/
Publications of Jean-Claude Latombe
http://ai.stanford.edu/~latombe/pub.htm
RI 16-735
Robotic Motion Planning Lectures
Howie Choset
http://www.cs.cmu.edu/~./motionplanning/lecture/lecture.html
gym open ai
https://gym.openai.com/envs/#classic_control
research paper notes
https://github.com/IvLabs/ResearchPaperNotes
gym under actuated
https://github.com/jmichaux/gym-underactuated/commits/master/examples
An Introduction to Trajectory
Optimization: How to Do Your
Own Direct Collocationā
http://www.matthewpeterkelly.com/tutorials/index.html
http://www.matthewpeterkelly.com/index.html
https://epubs.siam.org/doi/pdf/10.1137/16M1062569
Implementing trajectory optimization on bipedal system
https://github.com/IvLabs/biped_trajectory_optimization
Dynamic Modeling and Control of a Quadrotor Using Linear and Nonlinear approaches
Heba talla Mohamed Nabil ElKholy
Spring 2014
The american university in Cairo
Prof Maki Habib
The degree of Master of Science in Robotics, Control, and Smart Systems
Quadrotor control: modeling, nonlinear control design and simulation
Francesco Sabatino
KTH Electrical Engineering
Master's Degree Project
Stockholm, Sweedon June 2015
Avrupa Bilim ve Teknoloji Dergisi
Arastirma Makalesi
Oguz Kose, Tugrul Oktai
Dynamic Modeling and simulation of quadrotor for different flight conditions
2019
Underactued robotics
- http://www.kostasalexis.com/simulations-with-simpy.html
- http://www.matthewpeterkelly.com/tutorials/cartPole/cartPoleEqns.pdf
- https://www3.math.tu-berlin.de/Vorlesungen/SoSe12/Kontrolltheorie/matlab/inverted_pendulum.pdf
- https://demonstrations.wolfram.com/BalancingADoubleInvertedPendulumIn2DOr3D/
- https://demonstrations.wolfram.com/DoublePendulum/
- https://demonstrations.wolfram.com/ThePendulumFromSimpleHarmonicMotionToChaos/