Model predictive control to balance Upkie wheeled bipeds
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Updated
May 1, 2024 - Python
Model predictive control to balance Upkie wheeled bipeds
A musculoskeletal modelling system using ODE, PhysX or MuJoCo backends
Double pendulum leg model and control using Pinocchio library in Python
implementation of ppo on legged robots
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
ROS package; legged robot urdf and plugin
Legged robot : Project 2, MA1 - fall 2021
Phoenix Hexapod Experiments
Template to create new agents for Upkie
The TQ-Mini is an Arduino based 8 DOF quadruped robot.
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:
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
Train a balancing policy for Upkie by reinforcement learning
Negotiating difficult terrains has always been a challenging task for wheeled robots. To solve this issue, man has been trying to design various legged robots, taking inspiration from nature. Out of all these legged robots, six legged robots are the most common ones, since 6 legs have an edge over other legged robots considering their stability.…
Upkie agent that can balance and crouch
Whole body Inverse Kinematics based on Pinocchio and qpmad
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