legged-robots

There are 10 repositories under legged-robots topic.

• champ

  chvmp / champ

  MIT Cheetah I Implementation

  rosroboticsquadruped-robot-gaitslegged-robotslegged-roboticsgazeboquadrupedgazebo-simulatorgazebo-rosquadruped-simulation
  Language:C++ 1411
• rex-gym

  nicrusso7 / rex-gym

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

  artificial-intelligencegym-environmentinverse-kinematicslegged-robotsmachine-learningopenaiopenai-gymopenai-gym-environmentspybulletpython3quadrupedquadruped-robotquadruped-robot-gaitsreinforcement-learningreinforcement-learning-algorithmsrobotrobotic-armroboticsspotmicrotensorflow
  Language:Python 960

• ethz-adrl / towr

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

  trajectory-optimizationlegged-robotsmotion-planningnonlinear-programmingrosxppifoptipoptsnoptrobotbipedquadrupedcollocationphysics-based-animationcomputer-graphicslocomotioneigen
  Language:C++ 836

• leggedrobotics / free_gait

  An Architecture for the Versatile Control of Legged Robots

  apiapiscontrolfree-gaitlegged-robotsmotionmotion-designmotion-planningrobotroboticsroswhole-body-apiwhole-body-control
  Language:C++ 390

• JavierIH / miniKame

  ESP8266 based quadruped with 8DOF and oscillator based gaits.

  3d-printingesp8266legged-robots
  Language:KiCad 357

• leggedrobotics / xpp

  Visualization of Motions for Legged Robots in ros-rviz

  rosrvizroboticsvisualizationlegged-robotsmotion-planningcomputer-graphicsphysics-based-animationzmplocomotion
  Language:C++ 311
• awesome-robot-descriptions

  robot-descriptions / awesome-robot-descriptions

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

  awesomeawesome-listbipedhumanoidlegged-robotsmjcfquadrupedrobotroboticsurdfurdf-descriptionsurdf-models
  264

• DRCL-USC / Hector_Simulation

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

  bipedal-locomotion-controlhumanoidhumanoid-controllegged-robotslocomotionmpcoptimal-controlrobot
  Language:C++ 250

• chinmaynehate / Venom

  All Terrain Autonomous Quadruped

  robotleggedlegged-robotsrosros-kineticautonomous-robotsautonomous-navigationkinematic-modelingpython3quadrupedskinematicsquadrupedlegged-roboticsfourier-serieskalman-filterimuspider
  Language:Python 157

• csiro-robotics / syropod_highlevel_controller

  OpenSHC: A Versatile Multilegged Robot Controller

  openshcshclegged-robotscsiroroboticsrobotics-simulationrobotics-controlhexapod-roshexapod-robothexapod
  Language:C++ 154
• upkie

  upkie / upkie

  Open-source wheeled biped robots

  c-plus-pluslegged-roboticslegged-robotslocomotionpythonroboticswheeled-bipedreinforcement-learningsimulationmodel-predictive-controlpid-control
  Language:Python 109

• isri-aist / BaselineWalkingController

  Humanoid walking controller with various baseline methods

  bipedal-robotscontrollerhumanoidlegged-robotsroboticswalking
  Language:C++ 96

• chvmp / champ_setup_assistant

  CHAMP Package Config Generator

  rosroboticsurdflegged-roboticslegged-robotsquadruped-robotsquadruped-robot-gaits
  Language:Python 80

• robot-locomotion / dwl

  The Dynamic Whole-body Locomotion library (DWL)

  legged-robotsmotion-planningoptimizationtoolboxtrajectory-optimizationwhole-body-control
  Language:C++ 78

• MichaelMarav / ProbabilisticContactEstimation

  Probabilistic Contact State Estimation for Legged Robots in ROS

  legged-robotslocomotionstate-estimationcontact-detection
  Language:Python 53

• isri-aist / CentroidalControlCollection

  Collection of centroidal control for legged robots

  roboticslegged-robotshumanoidbipedal-robots
  Language:C++ 50
• ue4_towr

  awinkler / ue4_towr

  Visualize Legged Robot Trajectories with Unreal Engine

  computer-graphicslegged-robotsmotion-planningroboticstowrtrajectory-optimizationue4unreal-engine-4visualization
  Language:C++ 44
• upkie_description

  upkie / upkie_description

  URDF model for Upkie wheeled bipeds

  legged-robotsrobotrobot-modelurdfurdf-descriptionsurdf-modelswheeled-biped
  Language:Python 32

• nicrusso7 / robot-gym

  RL applied to robotics.

  roboticspybulletrlmpcquadrupedlegged-robotssimulationline-followerlegged-robotquadruped-robot
  Language:Python 28

• robot-locomotion / terrain-server

  Terrain mapping algorithm for motion planning and control in legged locomotion

  costmapdwllegged-robotsmappingterrain-mapping
  Language:C++ 21

• csiro-robotics / shc_tutorials

  Tutorials for using OpenSHC

  csirohexapod-robothexapod-roslegged-roboticslegged-robotsopenshcroboticsshctutorial
  19

• mrsp / whole_body_ik

  Whole body Inverse Kinematics based on Pinocchio and qpmad

  cpphumanoidhumanoid-robothumanoidsinverse-kinematicslegged-locomotionlegged-robotlegged-roboticslegged-robots
  Language:C++ 19

• isri-aist / MultiContactController

  Humanoid multi-contact motion controller

  controllerhumanoidlegged-robotsmulti-contactrobotics
  Language:C++ 16

• shbang91 / rpc

  Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.

  legged-robotsroboticstrajectory-optimizationwhole-body-control
  Language:C++ 16

• isri-aist / BaselineFootstepPlanner

  Humanoid footstep planner based on baseline methods with graph search

  bipedal-robotsfootstep-planninghumanoidlegged-robotsrobotics
  Language:C++ 12

• malteschilling / ddrl_hexapod

  control-architecturesdeep-reinforcement-learninglegged-robotsmotor-control
  Language:Python 11

• MichaelMarav / lcd

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

  deep-learninghumanoid-robotlegged-robotsopen-source-datasetsstate-estimation
  Language:Python 8

• godunko / hexapod

  Phoenix Hexapod Experiments

  adaarduinohexapodhexapod-robotlegged-roboticslegged-robots
  Language:Ada 6

• mrsp / lcd

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

  contact-estimationdeep-learninghumanoid-robothumanoid-robotshumanoid-walkinghumanoidslegged-robotlegged-roboticslegged-robotsopen-source-datasetspythonpytorchstate-estimation
  Language:Python 6

• 2uu / legged_robot

  ROS package; legged robot urdf and plugin

  ros-melodicgazebo9gazebo-plugingazebo-modelsurdf-descriptionslegged-robotspybullet
  Language:C++ 5

• robot-locomotion / dwl-distro

  It contains all the dynamic whole-body locomotion packages

  controldistrodwllegged-robotsmappingmotion-planningvisualization
  3

• upkie / upkie_parts

  3D printing and CAD files for Upkie wheeled bipeds

  3d-printinghomemade-robotswheeled-bipedlegged-robotscad
  3

• dengxianga / dengxianga.github.io

  my homepage

  computer-visionhomepagelegged-robotsroboticssensor-fusion
  Language:HTML 2

• abdelrahman-h-abdalla / 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:

  feasibilitylegged-robotslocomotionmotion-planningstability
  Language:Python 1

• saolxs / legged-robots

  implementation of ppo on legged robots

  legged-robotspporeinforcement-learning
  Language:Python 0

• kcniii / leggedRobot

  Talos robot simulation

  legged-robotstalos
  Language:Python