kayra
an easy to modify, 3d printable open source humanoid robot evolved by the community (by assadollahi)
pinocchio
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives (by stack-of-tasks)
| kayra | pinocchio | |
|---|---|---|
| 6 | 9 | |
| 37 | 1,515 | |
| - | 6.6% | |
| 8.3 | 9.3 | |
| 4 months ago | 10 days ago | |
| G-code | C++ | |
| BSD 3-clause "New" or "Revised" License | GNU General Public License v3.0 or later |
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
pinocchio
Posts with mentions or reviews of pinocchio.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2023-06-17.
- Good examples of C++ source code for math oriented software development?
- How to do position control of an elastic robot arm?
- Which is the best way to work with matrices and linear algebra using c++?
- I want to build a bipedal robot. Are there any open source libraries to handle walking and balancing?
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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?
Open-loop walking + physics: (e.g. ZMP-based) one thing you can do (that does not imply adding an IMU to Kayra and going for feedback) is include some walking physics into your walking trajectory generation. To give you an idea, I've written a tutorial on doing that in Python a couple of years ago. The libraries in this tutorial are deprecated now, but I'm working on an equivalent stack at github.com/tasts-robots using more durable software like pinocchio. The libs are still WIP but if you are interested in exploring that dev path (i.e. making a ZMP-based trajectory generator for Kayra) I can support you and help adapt them (because I want that SW to be useful for a maximum number of people).
- What type of software is widely used for robotics in industry?
- I have a robot model in URDF (running in pybullet). Are there easy tools to get the forward/inverse kinematics, and especially use that to plug it into a LQR controller?
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What software can I use to play around with articulated robots?
Drake and Pinocchio both use the Python interface to Meshcat as an option for visualizing robots, and they can both do the forward kinematics and have visualizer components that place the visual meshes properly relative to the computed frames, but both of those are full-fledged and complex kinematics and dynamics libraries for contact-rich interaction (and more), so the API calls to get a model set up are doing a lot more than providing a visual model you can feed joint angles to.
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Rigid Body Dynamics Libraries
Pinocchio sounds like exactly what you need: https://github.com/stack-of-tasks/pinocchio
What are some alternatives?
When comparing kayra and pinocchio you can also consider the following projects:
pink - Python inverse kinematics based on Pinocchio
meshcat - Remotely-controllable 3D viewer, built on top of three.js
lipm_walking_controller - Walking controller for humanoid robots based on inverted pendulum tracking
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
upkie_description - URDF model for Upkie wheeled bipeds
idyntree - Multibody Dynamics Library designed for Free Floating Robots
upkie - Open-source wheeled biped robots
rbdl-orb - RBDL - Rigid Body Dynamics Library - ORB Version - The two main differences to the original rbdl is that this version has error handling and uses polymorphism for constraints
control-toolbox - The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control
meshcat-python - WebGL-based 3D visualizer for Python
DART - DART: Dynamic Animation and Robotics Toolkit
symforce - Fast symbolic computation, code generation, and nonlinear optimization for robotics