kayra
an easy to modify, 3d printable open source humanoid robot evolved by the community (by assadollahi)
upkie
Open-source wheeled biped robots (by upkie)
| kayra | upkie | |
|---|---|---|
| 6 | 2 | |
| 37 | 109 | |
| - | 9.2% | |
| 8.3 | 9.9 | |
| 4 months ago | 11 days ago | |
| G-code | Python | |
| BSD 3-clause "New" or "Revised" License | Apache License 2.0 |
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
upkie
Posts with mentions or reviews of upkie.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2023-12-09.
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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?
When comparing kayra and upkie you can also consider the following projects:
pink - Python inverse kinematics based on Pinocchio
lipm_walking_controller - Walking controller for humanoid robots based on inverted pendulum tracking
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
upkie_description - URDF model for Upkie wheeled bipeds