Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes
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Updated
Jul 9, 2024 - C++
Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes
Completely reworked and improved C++ version of Advanced Locomotion System V4.
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.
An open source re-implementation of Chris Sawyer's Locomotion
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
Visualization of Motions for Legged Robots in ros-rviz
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
MIT mini cheetah quadruped robot simulated in pybullet environment using ros.
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.
Mesh Navigation Stack
Humanoid robotics prototyping environment based on OpenRAVE
[ICML 2020] PyTorch Code for "One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control"
A python package for modelling locomotion in complex environments and spatially/velocity selective cell activity.
A curated list of resources relevant to legged locomotion learning of robotics.
A differentiable physics engine for robotics
Open-source wheeled biped robots
A Multi-Task Dataset for Simulated Humanoid Control
Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.
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