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@leggedrobotics

Robotic Systems Lab - Legged Robotics at ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.
README.md

Robotic Systems Lab

Legged Robotics @ ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.

With a large focus on robots with arms and legs, our research includes novel actuation methods for advanced dynamic interaction, innovative designs for increased system mobility and versatility, and new control and optimization algorithms for locomotion and manipulation. In search of clever solutions, we take inspiration from humans and animals with the goal to improve the skills and autonomy of complex robotic systems to make them applicable in various real-world scenarios.

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Additional Pins

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  1. darknet_ros darknet_ros Public

    YOLO ROS: Real-Time Object Detection for ROS

    C++ 2.4k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 60 6

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.4k 521

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.2k 278

  5. open3d_slam open3d_slam Public

    Pointcloud-based graph SLAM written in C++ using open3D library.

    C++ 582 61

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 770 157

Repositories

Showing 10 of 263 repositories
  • direct_lidar_inertial_odometry Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

    leggedrobotics/direct_lidar_inertial_odometry’s past year of commit activity
    C++ 4 MIT 201 0 0 Updated Nov 6, 2025
  • kleinkram Public

    Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 21 MIT 3 100 (2 issues need help) 5 Updated Nov 5, 2025
  • navitrace_evaluation Public
    leggedrobotics/navitrace_evaluation’s past year of commit activity
    Jupyter Notebook 9 MIT 0 0 0 Updated Nov 4, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 770 MIT 157 35 5 Updated Nov 3, 2025
  • robot_self_filter Public

    ros2 version of the robot_self_filter package.

    leggedrobotics/robot_self_filter’s past year of commit activity
    C++ 12 5 2 0 Updated Nov 4, 2025
  • grand_tour_box Public

    Drivers, software and utilities for the GrandTour Boxi sensor payload.

    leggedrobotics/grand_tour_box’s past year of commit activity
    C++ 9 MIT 1 29 1 Updated Nov 3, 2025
  • recastnavigation Public Forked from recastnavigation/recastnavigation

    Industry-standard navigation-mesh toolset for games

    leggedrobotics/recastnavigation’s past year of commit activity
    C++ 0 Zlib 1,743 0 0 Updated Nov 2, 2025
  • rsl_rl Public

    A fast and simple implementation of RL algorithms, designed to run fully on GPU.

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,822 412 7 7 Updated Oct 29, 2025
  • fast_LIMO Public Forked from fetty31/fast_LIMO

    A tightly coupled and real time LiDAR-Inertial SLAM algorithm. Based upon LIMO-Velo and FAST_LIO projects.

    leggedrobotics/fast_LIMO’s past year of commit activity
    C++ 0 GPL-3.0 29 0 0 Updated Oct 27, 2025
  • dlio Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    Fork of [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

    leggedrobotics/dlio’s past year of commit activity
    C++ 12 MIT 201 0 0 Updated Oct 27, 2025
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