lipm_walking_controller
Walking controller for humanoid robots based on inverted pendulum tracking (by stephane-caron)
upkie
Open-source wheeled biped robots (by upkie)
| lipm_walking_controller | upkie | |
|---|---|---|
| 2 | 2 | |
| 218 | 118 | |
| - | 12.4% | |
| 2.1 | 9.9 | |
| 9 months ago | 12 days ago | |
| C++ | Python | |
| BSD 2-clause "Simplified" 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.
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.
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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?
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:
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 lipm_walking_controller and upkie you can also consider the following projects:
kayra - an easy to modify, 3d printable open source humanoid robot evolved by the community
pink - Python inverse kinematics based on Pinocchio
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
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.
PCL - Point Cloud Library (PCL)
MRPT - :zap: The Mobile Robot Programming Toolkit (MRPT)
upkie_description - URDF model for Upkie wheeled bipeds
lipm_walking_controller vs kayra
upkie vs pink
lipm_walking_controller vs pink
upkie vs kayra
lipm_walking_controller vs pinocchio
lipm_walking_controller vs paper_nava_2023_icra_fault-control-ironcub
lipm_walking_controller vs PCL
lipm_walking_controller vs MRPT
lipm_walking_controller vs upkie_description