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@leggedrobotics

Robotic Systems Lab - Legged Robotics at ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.
README.md

Robotic Systems Lab

Legged Robotics @ ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.

With a large focus on robots with arms and legs, our research includes novel actuation methods for advanced dynamic interaction, innovative designs for increased system mobility and versatility, and new control and optimization algorithms for locomotion and manipulation. In search of clever solutions, we take inspiration from humans and animals with the goal to improve the skills and autonomy of complex robotic systems to make them applicable in various real-world scenarios.

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  1. darknet_ros darknet_ros Public

    YOLO ROS: Real-Time Object Detection for ROS

    C++ 2.2k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 41 2

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 1.5k 400

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 935 231

  5. open3d_slam open3d_slam Public

    Pointcloud-based graph SLAM written in C++ using open3D library.

    C++ 526 54

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 563 119

Repositories

Showing 10 of 213 repositories
  • interactive_navigation Public

    MT: Task Planning for Interactive Navigation

    leggedrobotics/interactive_navigation’s past year of commit activity
    Python 7 MIT 0 0 0 Updated Dec 21, 2024
  • rsl_rl Public

    Fast and simple implementation of RL algorithms, designed to run fully on GPU.

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 730 203 19 7 Updated Dec 20, 2024
  • soem_interface Public

    This software package serves as a C++ interface for one or more EtherCAT devices running on the same bus. The lower level EtherCAT communication is handled by the SOEM library.

    leggedrobotics/soem_interface’s past year of commit activity
    C 31 GPL-3.0 27 0 3 Updated Dec 20, 2024
  • viplanner Public

    ViPlanner: Visual Semantic Imperative Learning for Local Navigation

    leggedrobotics/viplanner’s past year of commit activity
    Python 365 38 5 0 Updated Dec 18, 2024
  • crowd_navigation_mt Public
    leggedrobotics/crowd_navigation_mt’s past year of commit activity
    Python 1 MIT 0 0 0 Updated Dec 17, 2024
  • tf_bag Public Forked from IFL-CAMP/tf_bag

    Utilities to transparently use tf data recorded with rosbag in Python scripts

    leggedrobotics/tf_bag’s past year of commit activity
    Python 0 LGPL-3.0 24 0 0 Updated Dec 17, 2024
  • omnidir_nav_pretraining Public template Forked from isaac-sim/IsaacLabExtensionTemplate

    Pretraining Extension for the Omnidirectional Navigation Semester Project

    leggedrobotics/omnidir_nav_pretraining’s past year of commit activity
    Python 1 MIT 50 0 0 Updated Dec 15, 2024
  • wavemap Public Forked from ethz-asl/wavemap

    Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

    leggedrobotics/wavemap’s past year of commit activity
    C++ 0 BSD-3-Clause 42 0 0 Updated Dec 15, 2024
  • perfectlyconstrained Public

    Official implementations from the paper "Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild"

    leggedrobotics/perfectlyconstrained’s past year of commit activity
    C++ 17 MIT 1 1 0 Updated Dec 14, 2024
  • qpmad Public Forked from asherikov/qpmad

    ROS-compatible Eigen-based Goldfarb-Idnani quadratic programming solver

    leggedrobotics/qpmad’s past year of commit activity
    C++ 0 Apache-2.0 22 0 0 Updated Dec 14, 2024
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