Upkie

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8 repositories

upkie
Public
Open-source wheeled biped robots
python reinforcement-learning robotics simulation locomotion pid-control legged-robots legged-robotics model-predictive-control wheeled-biped
C++
•
Apache License 2.0
•31•218•6•1•Updated Dec 12, 2024Dec 12, 2024
upkie_description
Public
URDF descriptions for Upkie wheeled bipeds
robot urdf robot-model legged-robots urdf-models urdf-descriptions wheeled-biped
Python
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Apache License 2.0
•7•35•1•1•Updated Dec 11, 2024Dec 11, 2024
upkie_parts
Public
3D printing and CAD files for Upkie wheeled bipeds
cad 3d-printing legged-robots wheeled-biped homemade-robots
Apache License 2.0
•4•4•0•0•Updated Dec 11, 2024Dec 11, 2024
mpc_balancer
Public
Model predictive control to balance Upkie wheeled bipeds
python robotics locomotion legged-robots model-predictive-control wheeled-biped
Python
•
Apache License 2.0
•0•9•0•0•Updated Dec 11, 2024Dec 11, 2024
pink_balancer
Public
Upkie agent that can balance and crouch
python robotics inverse-kinematics locomotion pid-control legged-robots wheeled-biped
Python
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Apache License 2.0
•1•0•0•0•Updated Dec 4, 2024Dec 4, 2024
ppo_balancer
Public
Train a balancing policy for Upkie by reinforcement learning
python reinforcement-learning robotics locomotion legged-robots wheeled-biped
Python
•
Apache License 2.0
•6•5•0•0•Updated Dec 3, 2024Dec 3, 2024
new_agent
Public template
Template to create new agents and spines for Upkies
python robotics simulation legged-robots wheeled-biped
C++
•
Apache License 2.0
•1•0•0•0•Updated Nov 12, 2024Nov 12, 2024
pid_balancer
Public
Legacy agent designed to test new Upkies with minimum dependencies
Python
•
Apache License 2.0
•0•1•0•0•Updated Nov 12, 2024Nov 12, 2024