kayra
pink
kayra | pink | |
---|---|---|
6 | 3 | |
37 | 143 | |
- | 14.7% | |
8.3 | 9.3 | |
4 months ago | 14 days ago | |
G-code | Python | |
BSD 3-clause "New" or "Revised" License | Apache License 2.0 |
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kayra
- 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
pink
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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?
pink
- Python inverse kinematics for articulated robot models, based on Pinocchio
What are some alternatives?
lipm_walking_controller - Walking controller for humanoid robots based on inverted pendulum tracking
phobos - An add-on for Blender allowing to create URDF, SDF and SMURF robot models in a WYSIWYG environment.
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
onshape-to-robot - Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API
upkie_description - URDF model for Upkie wheeled bipeds
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
upkie - Open-source wheeled biped robots
IKBT - A python package to solve robot arm inverse kinematics in symbolic form
dkt - A Tutorial on Manipulator Differential Kinematics