Walking Pattern Generator based on linear inverted pendulum model

BipedalWalker - AI teaching itself to walk

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

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control

A self-balancing robot on 2 wheels, using Arduino & PID controller

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

ECE 598JK Final Project: Vision-Based Pick-n-Place using THORMANG Whole-Body Manipulation

Preview Control for Walking

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

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…

A repo for a bipedal robot leg design optimization

A repo for a bipedal robot project

Python sample codes for robotics algorithms.

Control of a bipedal walker

Humanoid footstep planner based on baseline methods with graph search

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

Training a humanoid robot for locomotion using Reinforcement Learning

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

Collection of centroidal control for legged robots

Designed and built a wheeled bipedal robot using 3D printing, programmed with ROS2.