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.
- Getting started
- Hardware: Building an Upkie
- Software: Documentation
Behaviors are distributed in agent repositories. For instance, you can compare how balancing is implemented by different approaches:
- Model predictive control: MPC balancer
- Reinforcement learning: PPO balancer
- Classical control: PID balancer
Head over to the new_agent template to start implementing your own behaviors 👷
