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amp_for_hardware

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

bipedalwalkingrobots

Linear Inverted Pendulum Model based bipedal walking

calipso.jl

Conic Augmented Lagrangian Interior-Point SOlver

candlelight_fw

gs_usb compatible firmware for candleLight, cantact and canable

cassie_alip_mpc

This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Control (MPC) foot placement planner and (2) a gait controller which takes the foot placement solution as an input. This controller enables improved stability for walking on a variety of sloped and textured terrains. The controller is implemented on the Agility Robotics Cassie Robot.

cassie_controller_angularmomentum

cassie_description

Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.

cassie_documentation

Central repository for operational instructions and installation scripts.

cassie_flatground_controller

choreonoid

An integrated graphical robotics application framework including a simulator, a motion editor, etc.

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

csdn_blog_code

CSDN BLOG CODE

cyberdog_ws

deeprl

Deep Reinforcement Learning Lab, a platform designed to make DRL technology and fun for everyone

deeprl-tutorials

Contains high quality implementations of Deep Reinforcement Learning algorithms written in PyTorch

free_dog_sdk_cpp

gamepad_joy

gazebo_ros_demos

Example robots and code for interfacing Gazebo with ROS

hector_modified

hector_simulation

Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)

helicopter_simlulation

Just for linear system control course ENGG5403

humanoid-gym

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

introductiontohumanoidrobotics

Matlab code for a Springer book "Introduction to Humanoid Robotics"

isaacsim-dockerfiles

Isaac Sim Dockerfiles

jade

C++ implementation of adaptive differential evolution optimization algorithm JADE

learning_docker

learning_ros_external_pkgs_noetic

lecture-notebooks

legged_control

(Modified to Free-Dog-SDK) Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

legged_gym

Isaac Gym Environments for Legged Robots