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Artificial and Mechanical Intelligence

README.md

Artificial and Mechanical Intelligence

Welcome to the GitHub organization of the Artificial and Mechanical Intelligence (AMI) lab at the Italian Institute of Technology.

Our mission is to combine Artificial Intelligence with Mechanics to provide mankind the next generation of Humanoid Robots that will help us face the looming societal challenges.

If you want to know more about us:

This GitHub organization contains different types of repositories:

  • Reusable software libraries that make algorithms developed in AMI, developed in C++, Python or MATLAB available to the research community and ready to be used.
  • Reproducible publication software for each paper published by AMI, to easily reproduce the results contained in the scientific papers written by AMI members. These repos can be identified by the paper_ prefix.
  • Organisational repositories, used to organize research and development activities. These repos can be identified by the axis_, component_, element_ or projection_ prefix in their name.
  • Research Outreach repositories, used to advertise and contain material related to workshops, courses or other activities by AMI members. These repos can be identified by the ws_ or course_ prefix in their name.

lab-illutration-LQ

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  1. bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    C++ 164 39

  2. lie-group-controllers Public

    Header-only C++ library containing controllers designed for Lie Groups.

    CMake 66 7

  3. matio-cpp Public

    A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.

    C++ 61 9

  4. adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    Python 164 22

  5. ironcub-mk1-software Public

    In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.

    MATLAB 13 3

  6. robot-log-visualizer Public

    Visualizer to display the data logged with YarpRobotLoggerDevice

    Python 26 5

Repositories

Showing 10 of 144 repositories
  • jaxsim Public

    A differentiable physics engine and multibody dynamics library for control and robot learning.

    Python 112 BSD-3-Clause 14 10 (1 issue needs help) 6 Updated Mar 21, 2025
  • rod Public

    The ultimate Python tool for RObot Descriptions processing.

    Python 13 BSD-3-Clause 3 4 (1 issue needs help) 1 Updated Mar 20, 2025
  • robots-configuration Public Forked from robotology/robots-configuration

    Contains robots configuration files

    CMake 0 BSD-3-Clause 72 0 1 Updated Mar 20, 2025
  • biomechanical-analysis-framework Public

    Software framework to compute human whole-body kinematics and dynamics.

    Python 3 BSD-3-Clause 2 0 2 Updated Mar 20, 2025
  • paper_guo_2025_iros_neural_kinematics_prediction Public

    This repo contains the code and data to reproduce the results of PINN-based neural joint kinematics predictor.

    Python 1 BSD-3-Clause 0 0 0 Updated Mar 19, 2025
  • human-model-generator Public

    Python-based tool to generate anthropometric human whole-body models in a URDF format

    Python 16 BSD-3-Clause 3 1 1 Updated Mar 18, 2025
  • cmake-nightly-testing-runner Public

    Experimental GitHub Action-based runner for CMake Nightly Testing

    CMake 0 BSD-3-Clause 0 0 1 Updated Mar 16, 2025
  • adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    Python 164 BSD-3-Clause 22 8 4 Updated Mar 12, 2025
  • liecasadi Public

    Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

    Python 76 BSD-3-Clause 5 0 0 Updated Mar 12, 2025
  • bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    C++ 164 BSD-3-Clause 39 68 (1 issue needs help) 9 Updated Mar 11, 2025
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