Completely reworked and improved C++ version of Advanced Locomotion System V4.
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Updated
Jun 1, 2024 - C++
Completely reworked and improved C++ version of Advanced Locomotion System V4.
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
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).
Open-source wheeled biped robots
Upkie agent that can balance and crouch
An open source re-implementation of Chris Sawyer's Locomotion
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
FreeClimber is a background-subtracting particle detection platform designed to quantify group climbing performance in a Drosophila negative geotaxis (climbing) assay
A floating character controller for Bevy
A locomotion system for use with the Reality Toolkit.
Mesh Navigation Stack
Train a balancing policy for Upkie by reinforcement learning
Repository for Final Design, "Motion Control Method for Small Quadruped Robots Based on Trajectory Modulation and Reinforcement Learning" (基于轨迹调制和强化学习的小型四足机器人运动控制方法)
Train quadruped locomotion using reinforcement learning in Mujoco
Model predictive control to balance Upkie wheeled bipeds
Newtonian mechanics model for C. elegans locomotion
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