champ
spot_mini_mini
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champ | spot_mini_mini | |
---|---|---|
7 | 2 | |
1,410 | 773 | |
3.0% | 2.3% | |
0.0 | 0.0 | |
6 months ago | over 1 year ago | |
C++ | C++ | |
BSD 3-clause "New" or "Revised" License | MIT License |
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champ
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Legged Robots in Ignition / Gazebo
I've used champ: https://github.com/chvmp/champ it works really well for the requirements mentioned in the question. They also have a few urdf files if you want to work on a (specific robot)[https://github.com/chvmp/robots]
Yep, its easy to implement on hardware as well, here is the wiki: https://github.com/chvmp/champ/wiki/Hardware-Integration
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Quadruped Made by High School Senior
I’m a senior in high school doing an independent study on robotics. I’m working on a quadruped robot I designed, built, tested in simulation, and programmed (with ROS and tons of libraries) that will soon utilize the ROS navigation stack to be autonomous. I'm using the champ ROS package for gait. (https://github.com/chvmp/champ)
spot_mini_mini
- Help with Walking Code Inverse Kinematics
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Raspberry Pi
I am currently making a robot dog based on spot mini mini (going to use a rPI 4): https://github.com/OpenQuadruped/spot_mini_mini
What are some alternatives?
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
my_ROS_mobile_robot - Differential drive mobile robot using ROS.
esp32-robot-dog-code - WIP: ESP32 powered robot dog, quadruped robot. This is just code, hardware in the other repositories
OpenCat - An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
ns3-gym - ns3-gym - The Playground for Reinforcement Learning in Networking Research
Legged-Robot-ROS - Gazebo Simulation Packages for Ghost Minitaur and Scout Quadruped Robot
Bullet - Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
robots - Collection of quadrupedal robots configured to work in CHAMP development framework
Reinforment-Implementation-on-a-Quadruped - Reinforment Implementation on a Quadruped using DDPG(tensorflow), ROS, Gazebo, real quadruped robot.