Open-source wheeled biped robots
URDF descriptions for Upkie wheeled bipeds
This repository contains Reinforcement Learning (RL) environments for the Upkie robot.
Model predictive controller to balance Upkie wheeled bipeds
Train a balancing policy for Upkie by reinforcement learning
3D printing and CAD files for Upkie wheeled bipeds
Designed and built a wheeled bipedal robot using 3D printing, programmed with ROS2.
Upkie agent that can balance and crouch
Template to create new agents and spines for Upkies
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