Displaying 1 to 8 from 8 results

rex-gym - OpenAI Gym environments for an open-source quadruped robot (SpotMicro)

  •    Python

The goal of this project is to train an open-source 3D printed quadruped robot exploring Reinforcement Learning and OpenAI Gym. The aim is to let the robot learns domestic and generic tasks in the simulations and then successfully transfer the knowledge (Control Policies) on the real robot without any other manual tuning. This project is mostly inspired by the incredible works done by Boston Dynamics.

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

  •    C++

A light-weight and extensible C++ library for trajectory optimization for legged robots. A base-set of variables, costs and constraints that can be combined and extended to formulate trajectory optimization problems for legged systems. These implementations have been used to generate a variety of motions such as monoped hopping, biped walking, or a complete quadruped trotting cycle, while optimizing over the gait and step durations in less than 100ms (paper).

champ - 𓃡 Quadruped Robot based on MIT Cheetah I

  •    C++

ROS Packages for CHAMP Quadruped Controller. CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on "Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot".

free_gait - An Architecture for the Versatile Control of Legged Robots

  •    C++

NOTICE: This software is not supported anymore! The authors of this software have changed their affiliation and do not work on this project anymore. Please excuse any inconvenience this might cause. If you are interested in working with the ANYmal robot, please reach out to ANYbotics. Free Gait is a software framework for the versatile, robust, and task-oriented control of legged robots. The Free Gait interface defines a whole-body abstraction layer to accommodate a variety of task-space control commands such as end effector, joint, and base motions. The defined motion tasks are tracked with a feedback whole-body controller to ensure accurate and robust motion execution even under slip and external disturbances. The application of this framework includes intuitive tele-operation of the robot, efficient scripting of behaviors, and fully autonomous operation with motion and footstep planners.

miniKame - ESP8266 based quadruped with 8DOF and oscillator based gaits.

  •    KiCad

ESP8266 based quadruped with 8DOF and oscillator based gaits.

xpp - Visualization of Motions for Legged Robots in ros-rviz

  •    C++

Xpp is a ROS package for the visualization of motion-plans for legged robots. It draws support areas, contact forces and motion trajectories in RVIZ and displays URDFs for specific robots, including a one-legged, a two-legged hopper and HyQ. More example motions can be seen in this video, generated by the library towr. or if you are using catkin tools.

champ_setup_assistant - CHAMP Package Config Generator

  •    Python

This software auto generates a configuration package containing all the files necessary to make CHAMP walk. Configure your robot by loading a URDF or manually key in the configuration parameters. If you don't have a URDF now, you can download ANYmal or SpotMicro to try the package.

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