Training a humanoid robot for locomotion using Reinforcement Learning

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

Humanoid walking controller with various baseline methods

Repository for Planar Bipedal walking robot in Gazebo environment using Deep Deterministic Policy Gradient(DDPG) using TensorFlow.

SEROW Framework for N Legged Robot Walking Estimation

Collection of centroidal control for legged robots

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…

Simple-to-use-and-extend implementation of the DeepMimic Approach using the MuJoCo Physics Engine and Stable Baselines 3, mainly for locomotion tasks.

The code corresponding to the paper "Improving Sample Efficiency of Deep Reinforcement Learning for Bipedal Walking".

Humanoid footstep planner based on baseline methods with graph search

BipedalWalker - AI teaching itself to walk

Scripts and configuration files to launch when bringing up REEM-C.

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control

Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories

Control of a bipedal walker

Walking Pattern Generator based on linear inverted pendulum model

Locomotion tasks for bipedal robots in IsaacLab

Preview Control for Walking

Python sample codes for robotics algorithms.