A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
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Updated
Apr 17, 2023 - C++
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
A curated list of awesome robot descriptions (URDF, MJCF)
Linear Inverted Pendulum Model based bipedal walking
Implementation of Generatve Adversarial Imitation Learning (GAIL) for classic environments from OpenAI Gym.
TEED: Tiny and Efficient Edge Detector
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 PLEN2 Robot learns to walk using Twin-Delayed Deep Deterministic Policy Gradient in Gazebo and PyBullet with a custom OpenAI Gym interface
Implementing trajectory optimization on bipedal system
Scripts and configuration files to launch when bringing up REEM-C.
Read "humanoid robot" and implement some algorithms
Simulation of a walking biped in ROS-Gazebo.
Some Must Read Papers on Optimal Controls of Bipedal Robots
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