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
Rosbag interface with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces
Mujoco simulation of ANYmal C with the purpose to validate and evaluate the haptiquad library, capable of estimating ground reaction forces and base rench
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.
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