A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: [email protected]

SEROW Framework for N Legged Robot Walking Estimation

Walking Pattern Generator (= Walking Controller) using ROS2 for Humanoid Robots

ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot

Meta QLearning experiments to optimize robot walking patterns

The code corresponding to the paper "Improving Sample Efficiency of Deep Reinforcement Learning for Bipedal Walking".

BipedalWalker - AI teaching itself to walk

In this repository there are the projects developed during the course of Advance Optimization-based Robot Control. The main topics are Task Space Inverse Dynamics (TSID), Differential Dynamic Programming (DDP) and Deep Q-Network (DQN).

Scripts and configuration files to launch when bringing up REEM-C.

Teaching a humanoid to walk(ish), then displaying in your browser (using tensorflow.js and reinforcement learning)

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories

A simple random searching technique which provides a competitive approach to Reinforcement learning for Locomotion related tasks on Mu-Jo-Co bodies like Humanoid, Half-Cheetah etc

A humanoid robot simulation ROS pkg for raisim www.raisim.com

Online Control of Humanoid Robot Locomotion. Giulio Romualdi's PhD Thesis

Implementation of Omnidirectional Walk Using Zero Moment Point (ZMP) and Preview Control Method

DDPG humanoid written in Tensorflow for walking task

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Analytical Method