https://github.com/upkie/upkie

Open-source wheeled biped robots

legged-robotics legged-robots locomotion model-predictive-control pid-control python reinforcement-learning robotics simulation wheeled-biped

Last synced: 15 May 2025

https://github.com/upkie/upkie_description

URDF descriptions for Upkie wheeled bipeds

legged-robots robot robot-model urdf urdf-descriptions urdf-models wheeled-biped

Last synced: 09 Apr 2025

https://github.com/stephane-caron/palimpsest

Fast serializable C++ dictionaries

cpp cpp17 dictionary json key-value messagepack msgpack serialization

Last synced: 26 Apr 2025

https://github.com/upkie/mpc_balancer

Model predictive control to balance Upkie wheeled bipeds

legged-robots locomotion model-predictive-control python robotics wheeled-biped

Last synced: 26 Apr 2025

https://github.com/upkie/ppo_balancer

Train a balancing policy for Upkie by reinforcement learning

legged-robots locomotion python reinforcement-learning robotics wheeled-biped

Last synced: 26 Apr 2025

https://github.com/upkie/upkie_parts

3D printing and CAD files for Upkie wheeled bipeds

3d-printing cad homemade-robots legged-robots wheeled-biped

Last synced: 09 Apr 2025

https://github.com/upkie/pink_balancer

Upkie agent that can balance and crouch

inverse-kinematics legged-robots locomotion pid-control python robotics wheeled-biped

Last synced: 07 May 2025

https://github.com/upkie/pid_balancer

Legacy agent designed to test new Upkies with minimum dependencies

Last synced: 09 Apr 2025

https://github.com/upkie/new_agent

Template to create new agents and spines for Upkies

legged-robots python robotics simulation wheeled-biped

Last synced: 26 Feb 2025

https://github.com/stephane-caron/raspunzel

Command-line tool to run Bazel targets on a Raspberry Pi

bazel raspberry-pi

Last synced: 26 Apr 2025