kayra
an easy to modify, 3d printable open source humanoid robot evolved by the community (by assadollahi)
lipm_walking_controller
Walking controller for humanoid robots based on inverted pendulum tracking (by stephane-caron)
| kayra | lipm_walking_controller | |
|---|---|---|
| 6 | 2 | |
| 37 | 214 | |
| - | - | |
| 8.3 | 2.1 | |
| 4 months ago | 9 months ago | |
| G-code | C++ | |
| BSD 3-clause "New" or "Revised" License | BSD 2-clause "Simplified" License |
The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives.
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.
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.
kayra
Posts with mentions or reviews of kayra.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2023-01-08.
- Open source humanoid Kayra getting an IMU
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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?
Improving the walking trajectory: from what I gather from servoControl.json your walking trajectory doesn't take physics into account, which is totally fine. Small bipedal walkers can walk fully open loop, that is for instance what most teams in the Humanoid League Kid-Size of the RoboCup are doing.
- My open source humanoid Kayra trying out different stands at neck breaking speed!
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HOT OFF the 3D printer: Kayra, my open-source humanoid robot, now with two legs and a connecting hip! Will shift CAD design to servo-controller programming now.
link to github repo here
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Major achievement at my own source humanoid project Kayra! Right leg designed up to the hip! Four servos for left/right and up/down movements.
Thanks, it's open source. STL and design files here: https://github.com/assadollahi/kayra
lipm_walking_controller
Posts with mentions or reviews of lipm_walking_controller.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2023-01-08.
-
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?
On a related note, a ZMP-based trajectory optimizer also has a fitness function. Unfortunately it's not obvious at all in the tutorial I mentioned, there it only appears as wxt=1., wu=0.01; it's more obvious in the code and GUI of the lipm_walking_controller, where the cost function appears in the Walking → MPC tab. You can run this thing in a Docker if you want to check it out:
What are some alternatives?
When comparing kayra and lipm_walking_controller you can also consider the following projects:
pink - Python inverse kinematics based on Pinocchio
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
upkie_description - URDF model for Upkie wheeled bipeds
paper_nava_2023_icra_fault-control-ironcub - Repository associated with the paper "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot", published in IEEE ICRA 2023.
upkie - Open-source wheeled biped robots
PCL - Point Cloud Library (PCL)
MRPT - :zap: The Mobile Robot Programming Toolkit (MRPT)
kayra vs pink
lipm_walking_controller vs pink
kayra vs pinocchio
lipm_walking_controller vs pinocchio
kayra vs upkie_description
lipm_walking_controller vs paper_nava_2023_icra_fault-control-ironcub
kayra vs upkie
lipm_walking_controller vs PCL
lipm_walking_controller vs MRPT
lipm_walking_controller vs upkie_description