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Upkie is an open source wheeled biped robot design with wheels for balancing and legs to negotiate uneven terrains. Upkies are designed to be buildable using tools and components ordered online, like mjbots actuators.

Behaviors are distributed in agent repositories. For instance, you can compare how balancing is implemented by different approaches:

Head over to the new_agent template to start implementing your own behaviors 👷

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  1. upkie upkie Public

    Open-source wheeled biped robots

    C++ 263 36

  2. upkie_description upkie_description Public

    URDF descriptions for Upkie wheeled bipeds

    Python 35 7

  3. mpc_balancer mpc_balancer Public

    Model predictive control to balance Upkie wheeled bipeds

    Python 11

  4. ppo_balancer ppo_balancer Public

    Train a balancing policy for Upkie by reinforcement learning

    Python 6 5

  5. upkie_parts upkie_parts Public

    3D printing and CAD files for Upkie wheeled bipeds

    5 4

  6. new_agent new_agent Public template

    Template to create new agents and spines for Upkies

    C++ 1 1

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