Open-source wheeled biped robots
This repository contains Reinforcement Learning (RL) environments for the Upkie robot.
URDF and Xacro descriptions for Upkie wheeled bipeds
Model predictive controller to balance Upkie wheeled bipeds
Train a balancing policy for Upkie by reinforcement learning
3D printing and CAD files for Upkie wheeled bipeds
Designed and built a wheeled bipedal robot using 3D printing, programmed with ROS2.
Upkie agent that can balance and crouch using Pinker inverse kinematics
Legacy template to create agents and spines for Upkies
Simulation-based design and hybrid control of a two-wheeled self-balancing jumping robot in MuJoCo using P-V state feedback, phase-dependent leg control and contact-based event detection.
To associate your repository with the wheeled-biped topic, visit your repo's landing page and select "manage topics."