upkie
Open-source wheeled biped robots (by upkie)
lipm_walking_controller
Walking controller for humanoid robots based on inverted pendulum tracking (by stephane-caron)
| upkie | lipm_walking_controller | |
|---|---|---|
| 3 | 2 | |
| 245 | 241 | |
| 5.3% | 4.1% | |
| 9.9 | 2.1 | |
| 1 day ago | over 1 year ago | |
| C++ | C++ | |
| Apache License 2.0 | 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.
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 2024-10-31.
- Open-source wheeled biped robot
-
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:
-
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
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 upkie and lipm_walking_controller you can also consider the following projects:
pink - Python inverse kinematics based on Pinocchio
kayra - an easy to modify, 3d printable open source humanoid robot evolved by the community
upkie_description - URDF descriptions for Upkie wheeled bipeds
awesome-open-source-robots - A curated list of awesome robots that are open source
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.