body
upkie
| body | upkie | |
|---|---|---|
| 3 | 3 | |
| 74 | 235 | |
| - | 4.7% | |
| 4.7 | 9.9 | |
| 7 months ago | 20 days ago | |
| C | C++ | |
| GNU General Public License v3.0 only | Apache License 2.0 |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
body
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Open-source wheeled biped robot
Relevant: https://github.com/commaai/body#comma-body (I'm aware that the Comma Body just uses wheels, and thus differs from Upkie in that Upkie claims to support uneven terrains)
I had no idea about https://github.com/stephane-caron/awesome-open-source-robots -- there's one of those for everything, I guess (and are also a just stunningly terrible way to distribute collections of links, IMHO, since creating Wikipedia pages is free and those can be edited by anyone with an account, versus the "open PR and pray" model of GitHub)
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George Hotz wants to “make driving chill” with next-gen Comma 3 hands-free driver assist
His end game with “self driving” is comma bodies in the driver’s seat, driving the car for you like a taxi driver.
- comma body - Assembly Instructions
upkie
- Open-source wheeled biped robot
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Sim-to-real RL pipeline for open-source wheeled bipeds
The latest release (v3.0.0) of Upkie's software brings a functional sim-to-real reinforcement learning pipeline based on Stable Baselines3, with standard sim-to-real tricks. The pipeline trains on the Gymnasium environments distributed in upkie.envs (setup: pip install upkie) and is implemented in the PPO balancer. Here is a policy running on an Upkie:
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Help! After adding a chest (incl battery and two servos for the shoulders) my humanoid Kayra the same gait pattern doesn't work anymore. Here's a video contrasting with vs without chest. What are the top five improvements you'd suggest?
git clone https://github.com/tasts-robots/upkie_locomotion.git cd upkie_locomotion ./tools/bazelisk run -c opt //agents/blue_balancer:bullet
What are some alternatives?
awesome-awesome-awesome-awes - [GET https://api.github.com/repos/sindresorhus/awesome-awesome-awesome-awes: 404 - Not Found // See: https://docs.github.com/rest/repos/repos#get-a-repository]
pink - Python inverse kinematics based on Pinocchio
awesome-open-source-robots - A curated list of awesome robots that are open source
kayra - an easy to modify, 3d printable open source humanoid robot evolved by the community
awesome-awesome-awesome-awesome - A curated list of awesome lists of awesome lists.
upkie_description - URDF descriptions for Upkie wheeled bipeds
Gymnasium-Robotics - A collection of robotics simulation environments for reinforcement learning
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
lipm_walking_controller - Walking controller for humanoid robots based on inverted pendulum tracking
overleap - Overleap is an open-source 2 DOF robotic leg that can jump and hop in a circle.