locomotion

Replicated and optimized community version of Advanced Locomotion System V4 for Unreal Engine 5.4 with additional features & bug fixes

An open source re-implementation of Chris Sawyer's Locomotion

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

Completely reworked and improved C++ version of Advanced Locomotion System V4.

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

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Mesh Navigation Stack

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

A curated list of resources relevant to legged locomotion learning of robotics.

A differentiable physics engine for robotics

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

Visualization of Motions for Legged Robots in ros-rviz

A floating character controller for Bevy

A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

Open-source wheeled biped robots

[ICML 2020] PyTorch Code for "One Policy to Control Them All: Shared Modular Policies for Agent-Agnostic Control"

Humanoid robotics prototyping environment based on OpenRAVE

A python package for simulating movement and spatial cell types (e.g. place cells, grid cells) in continuous environments.

[CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion