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

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

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…

Humanoid footstep planner based on baseline methods with graph search

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

BipedalWalker - AI teaching itself to walk

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".

Python sample codes for robotics algorithms.

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control

Preview Control for Walking

Walking Pattern Generator based on linear inverted pendulum model

Control of a bipedal walker

A repo for a bipedal robot project

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