A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn
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Updated
Sep 6, 2024 - C++
A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn
A new robotic head with an animated face for our emotional toys PoC.
Humanoid walking controller with various baseline methods
SEROW Framework for N Legged Robot Walking Estimation
Designed and built a wheeled bipedal robot using 3D printing, programmed with ROS2.
Collection of centroidal control for legged robots
Simple-to-use-and-extend implementation of the DeepMimic Approach using the MuJoCo Physics Engine and Stable Baselines 3, mainly for locomotion tasks.
Training a humanoid robot for locomotion using Reinforcement Learning
Scripts and configuration files to launch when bringing up REEM-C.
Humanoid footstep planner based on baseline methods with graph search
Control of a bipedal walker
Python sample codes for robotics algorithms.
A repo for a bipedal robot project
A repo for a bipedal robot leg design optimization
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…
The code corresponding to the paper "Improving Sample Efficiency of Deep Reinforcement Learning for Bipedal Walking".
Preview Control for Walking
ECE 598JK Final Project: Vision-Based Pick-n-Place using THORMANG Whole-Body Manipulation
Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories
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