Collection of quadrupedal robots configured to work in CHAMP development framework
A simulation environment made in Gazebo to estimate lidar odometry performances under different lidar specifications
A legged locomotion project
Personal Website of Marko Bjelonic
GPU-parallel RL training workspace for NVIDIA Isaac Lab: ANYmal locomotion + Franka reach with RSL-RL PPO, scripts, and 8GB-VRAM defaults.
Deep-RL hierarchical controller enabling an ANYmal B quadruped to self-right from any fall and resume walking (TRPO, MuJoCo). MVA Robotics project.
Mujoco simulation of ANYmal C with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces and base rench
Rosbag interface with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces
Waypoint-based trajectory tracking for quadruped robots using Quadruped-PyMPC
A PyTorch implementation of the TD3 (Twin Delayed Deep Deterministic Policy Gradient) algorithm applied to quadruped robot locomotion control. Trained on two environments of increasing complexity: the MuJoCo Ant (8 degrees of freedom) and ANYbotics' ANYmal (12 degrees of freedom) in the Gym Jiminy physics simulation.
PPO ANYmal C with variable impedance control across 6 terrains in Isaac Sim
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