locomotion

There are 2 repositories under locomotion topic.

ALS-Community
ShadowfallStudios / ALS-Community
Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes
unreal-engine-4 unreal-engine locomotion animation game-development cpp blueprint unreal-engine-plugin optimization alsv4-cpp als-community als plug advanced-locomotion-system unreal-engine-5 ue5 ue4 ue4-plugin ue5-plugin
Language:C++ 2352
OpenLoco / OpenLoco
An open source re-implementation of Chris Sawyer's Locomotion
c-plus-plus locomotion game windows linux macos simulation trains transport transport-tycoon cmake sdl2 help-wanted hacktoberfest
Language:C++ 1472
Sixze / ALS-Refactored
Completely reworked and improved C++ version of Advanced Locomotion System V4.
advanced-locomotion-system animation locomotion optimization plugin unreal-engine unreal-engine-5
Language:C++ 1087
roboterax / humanoid-gym
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
ai artificial-intelligence control-systems humanoid-robot locomotion machine-learning robotics
Language:Python 1081
ethz-adrl / towr
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
biped collocation computer-graphics eigen ifopt ipopt legged-robots locomotion motion-planning nonlinear-programming physics-based-animation quadruped robot ros snopt trajectory-optimization xpp
Language:C++ 961
spot_mini_mini
OpenQuadruped / spot_mini_mini
Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.
quadruped locomotion reinforcement-learning pybullet environment ros optimization control open-source quadruped-robot-gaits quadruped-robot openai-gym-environments openai-gym walker machine-learning quadruped-robots gym-environment spot gait terrain
Language:C++ 842
naturerobots / mesh_navigation
Mesh Navigation Stack
3d-path-planning control locomotion mesh navigation pathplanning ros
Language:C++ 609
DRCL-USC / Hector_Simulation
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
humanoid legged-robots locomotion mpc optimal-control robot humanoid-control bipedal-locomotion-control
Language:C++ 436
adham-elarabawy / open-quadruped
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
3d-printing bezier-path control gait gait-generation locomotion machine-learning quadruped quadruped-robot quadruped-robots reinforcement-learning robotics trajectory trajectory-generation
Language:C++ 394
gaiyi7788 / awesome-legged-locomotion-learning
A curated list of resources relevant to legged locomotion learning of robotics.
awesome locomotion reinforcement-learning robotics
387
dojo-sim / Dojo.jl
A differentiable physics engine for robotics
simulation robotics motion-planning reinforcement-learning trajectory-optimization locomotion differentiable gradients control system-identification contact friction
Language:Julia 331
Derek-TH-Wang / quadruped_ctrl
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
pybullet simulation ros mini-cheetah quadruped-robot quadruped mpc locomotion gait algorithm robot mit terrain
Language:C++ 330
leggedrobotics / xpp
Visualization of Motions for Legged Robots in ros-rviz
ros rviz robotics visualization legged-robots motion-planning computer-graphics physics-based-animation zmp locomotion
Language:C++ 329
idanarye / bevy-tnua
A floating character controller for Bevy
bevy-plugin character-controller locomotion rapier2d rapier3d rust xpbd
Language:Rust 286
iit-DLSLab / Quadruped-PyMPC
A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)
jax locomotion optimization quadruped-robot mujoco acados
Language:Python 264
upkie
upkie / upkie
Open-source wheeled biped robots
legged-robotics legged-robots locomotion python robotics wheeled-biped reinforcement-learning simulation model-predictive-control pid-control
Language:C++ 240
modular-rl
huangwl18 / modular-rl
[ICML 2020] PyTorch Code for "One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control"
deep-learning reinforcement-learning modularity graph-neural-networks locomotion generalization modular-control decentralized-control message-passing emergent-communication
Language:Jupyter Notebook 226
pymanoid
stephane-caron / pymanoid
Humanoid robotics prototyping environment based on OpenRAVE
robotics python openrave humanoid-robot inverse-kinematics model-predictive-control locomotion
Language:Python 223
RatInABox
RatInABox-Lab / RatInABox
A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.
continuous ephys hippocampus locomotion motion neurons rat reinforcement-learning box grid-cells place-cells boundary-vector-cells trajectory computational-neuroscience modelling modelling-biological-systems neuroscience simulation gym gym-environment
Language:Python 212
MarkFzp / Deep-Whole-Body-Control
[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion
deep-learning locomotion pytorch reinforcement-learning robotics
Language:Python 193
AitorSimona / Traverser
A player traversal toolkit for Unity.
climb controller ledge locomotion parkour physical-animation procedural procedural-animation ragdoll traversal unity
Language:C# 186
microsoft / MoCapAct
A Multi-Task Dataset for Simulated Humanoid Control
humanoid-control motion-capture reinforcement-learning dm-control mujoco reinforcement-learning-datasets deepmind-control-suite mocap locomotion motion-imitation imitation-learning
Language:Python 180
NxRoot / ALSV4-Metahumans
UE5 - Advanced Locomotion System (Replicated)
als locomotion ue5 metahumans
134
dojo-sim / ContactImplicitMPC.jl
Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.
optimization control motion-planning robotics contact model-predictive-control locomotion
Language:Julia 126
HybridRobotics / prompt2walk
Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969
control-systems large-language-models locomotion machine-learning robotics ai artificial-intelligence ml
Language:Python 93
leggedrobotics / vitruvio
Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.
matlab optimization locomotion student-project
Language:MATLAB 93
antonilo / vision_locomotion
Project Code for the paper "Learning Visual Locomotion with Cross-Modal Supervision" (ICRA2023)
computer-vision continual-learning locomotion reinforcement-learning
Language:C++ 84
MichaelMarav / ProbabilisticContactEstimation
Probabilistic Contact State Estimation for Legged Robots in ROS
legged-robots locomotion state-estimation contact-detection
Language:Python 69
nimazareian / quadruped-rl-locomotion
Train quadruped locomotion using reinforcement learning in Mujoco
locomotion mujoco quadruped reinforcement-learning unitree-go1 openai-gym stable-baselines3
Language:Jupyter Notebook 64
DanielRBowen / UE-VRHands-Template
This is an Unreal Engine 5 template for VR Headsets with motion controllers. It features dynamic hands, touch screens, grabbable objects, and locomotion.
touchscreen vr-headset grabbable-objects spline-move locomotion virtual-reality vr openxr ue5 unreal unreal-engine ue5-template ue5-vr-template unreal-engine-5
52
junhyeokahn / PyPnC
Python Implementation of Planning and Control
robotics simulation planning control machine-learning optimization walking-pattern-generation whole-body-control locomotion
Language:C++ 51
manumerous / wb_humanoid_mpc
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
humanoid humanoid-robot locomotion mpc planning walking wholebodycontrol ai data-generation nonlinear optimization robotics
Language:C++ 51
NeLy-EPFL / NeuroMechFly
A neuromechanical model of adult Drosophila melanogaster.
drosophila-melanogaster evolutionary-algorithms gait-optimization locomotion published-article pybullet simulation
Language:Python 48
MoonMotionProject / MoonMotion
Moon Motion Toolkit - Free and open source toolkit for VR locomotion
moon-motion vr-locomotion locomotion unity3d unity3d-plugin steamvr steamvr-plugin virtual-reality vr vr-player vr-solutions vive htc-vive mixed-reality windows-mixed-reality oculus-rift oculus
Language:C# 47
UBCMOCCA / SymmetricRL
Repo for "On Learning Symmetric Locomotion"
reinforcement-learning locomotion symmetry equivariance computer-graphics
Language:Jupyter Notebook 47
Quadruped-DIPLOID
BitsRobocon / Quadruped-DIPLOID
Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present)
bezier bits-pilani bits-robocon four-legged gait inverse-kinematics kinematics locomotion matplotlib-animation quadruped quadruped-robot-gaits raspberry-pi ros
Language:Python 42

locomotion

ShadowfallStudios / ALS-Community

OpenLoco / OpenLoco

Sixze / ALS-Refactored

roboterax / humanoid-gym

ethz-adrl / towr

OpenQuadruped / spot_mini_mini

naturerobots / mesh_navigation

DRCL-USC / Hector_Simulation

adham-elarabawy / open-quadruped

gaiyi7788 / awesome-legged-locomotion-learning

dojo-sim / Dojo.jl

Derek-TH-Wang / quadruped_ctrl

leggedrobotics / xpp

idanarye / bevy-tnua

iit-DLSLab / Quadruped-PyMPC

upkie / upkie

huangwl18 / modular-rl

stephane-caron / pymanoid

RatInABox-Lab / RatInABox

MarkFzp / Deep-Whole-Body-Control

AitorSimona / Traverser

microsoft / MoCapAct

NxRoot / ALSV4-Metahumans

dojo-sim / ContactImplicitMPC.jl

HybridRobotics / prompt2walk

leggedrobotics / vitruvio

antonilo / vision_locomotion

MichaelMarav / ProbabilisticContactEstimation

nimazareian / quadruped-rl-locomotion

DanielRBowen / UE-VRHands-Template

junhyeokahn / PyPnC

manumerous / wb_humanoid_mpc

NeLy-EPFL / NeuroMechFly

MoonMotionProject / MoonMotion

UBCMOCCA / SymmetricRL

BitsRobocon / Quadruped-DIPLOID