An open source re-implementation of Chris Sawyer's Locomotion

Open-source wheeled biped robots

Completely reworked and improved C++ version of Advanced Locomotion System V4.

Mesh Navigation Stack

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

A multi-threaded C++ implementation of random search for locomotion tasks using MuJoCo.

Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes

Locomotion Package for ROS 2 Project.

Locomotion migrated from Lyra

Python Implementation of Planning and Control

C++ Conversion of Advanced Locomotion System

Project Code for the paper "Learning Visual Locomotion with Cross-Modal Supervision" (ICRA2023)

C++/python codes for contact-rich trajectory optimization.

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

Visualization of Motions for Legged Robots in ros-rviz

ROS package for creating a terrain cost map using RGBD Camera for locomotion of legged Robots.