Using Convex MPC to make a biped walk on rough and sinusoidal terrains with payload

Implementation of a planar bipedal walking using Hybrid Zero Dynamics in Python

A Linear Inverted Pendulum (SLIP) model based framework for generating walking trajectories for bipeds.

Reinforcement Learning (24-Spring)

Database for human gait analysis consisting of continues recordings of combined activities, such as walking, running, taking stairs up and down, sitting down, and so on; and the data recorded are s…

Implementation of DMP in Python 3.5

Smooth trajectory interpolation by polynomial methods.

Walking pattern generation examples using zero moment point method

A LaTeX template for replying to paper reviews

The template of LaTeX files for the response to the reviewers

Kernelized Movement Primitives Python implementation

Open loop walk engine for small humanoid robots

It reproduces some of the results of bipedal gait generation based on Zero Moment Point with a novel system modeling, named Spatially Quantized Dynamics

Humanoid loco-manipulation controller

A simple fork of OpenLoong Dynamics Control on github. Click the link below to visist the original repo. I do not possess any responsibility and copyrights about this repo.

开源全身动力学控制软件包

开源人形机器训练平台

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

This repository contains a project that leverages reinforcement learning to make a humanoid robot walk in a PyBullet simulation. It uses a custom Gym environment, a Proximal Policy Optimization (PP…

SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots

https://nyu-legged-group.github.io/Rollover/

Humanoid robotics for OpenRAVE

Official Implementation of the CVPR 2024 highlight paper: Real-Time Simulated Avatar from Head-Mounted Sensors

一个全开源低成本的双足机器人（2万元（$3000））A Fully Opensourced Humanoid Robot with only $3000

Adverserial Waddle Dynamics