Phoenix Hexapod Experiments
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Updated
Jun 20, 2024 - Ada
Phoenix Hexapod Experiments
Open-source wheeled biped robots
URDF model for Upkie wheeled bipeds
A curated list of awesome robot descriptions (URDF, MJCF)
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
A musculoskeletal modelling system using ODE, PhysX or MuJoCo backends
Upkie agent that can balance and crouch
Template to create new agents for Upkie
Humanoid multi-contact motion controller
3D printing and CAD files for Upkie wheeled bipeds
Humanoid walking controller with various baseline methods
Train a balancing policy for Upkie by reinforcement learning
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
Model predictive control to balance Upkie wheeled bipeds
Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision
Probabilistic Contact State Estimation for Legged Robots in ROS
Whole body Inverse Kinematics based on Pinocchio and qpmad
Collection of centroidal control for legged robots
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
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