v0 of Asimov, an open-source humanoid robot
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Jan 28, 2026
#
humanoid-walking
Here are 35 public repositories matching this topic...
A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn
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Jan 5, 2025 - C++
SEROW Framework for N Legged Robot Walking Estimation
real-time cpp robotics ros gazebo outlier-detection state-estimation humanoids humanoid-robots humanoid-walking bipedal-robots base-estimation center-of-mass quadruped-robots bipeds
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Aug 20, 2026 - C++
Walking Pattern Generator (= Walking Controller) using ROS2 for Humanoid Robots
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Jun 24, 2025 - C++
ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot
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Jun 26, 2026 - Python
PPO implementation for controlling a humanoid in Gymnasium's Mujoco environment, featuring customizable training scripts and multi-environment parallel training.
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Oct 20, 2025 - Python
Meta QLearning experiments to optimize robot walking patterns
reinforcement-learning robotics gym humanoid-robot humanoid mujoco meta-learning pybullet gym-environment humanoid-walking mujoco-environments meta-qlearning
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Aug 21, 2024 - Python
The code corresponding to the paper "Improving Sample Efficiency of Deep Reinforcement Learning for Bipedal Walking".
reinforcement-learning deep-reinforcement-learning gym mujoco mujoco-py humanoid-walking bipedal-robots sample-efficiency
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Aug 8, 2022 - Python
BipedalWalker - AI teaching itself to walk
openai-gym openai gym bipedal humanoid-robot humanoid google-colab humanoid-walking google-colaboratory bipedal-robots google-colab-tutorial
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Oct 29, 2018 - Jupyter Notebook
In this repository there are the projects developed during the course of Advance Optimization-based Robot Control. The main topics are Task Space Inverse Dynamics (TSID), Differential Dynamic Programming (DDP) and Deep Q-Network (DQN).
reinforcement-learning university-project dqn ddp optimization-algorithms humanoid-walking dqn-tensorflow tsid dqn-pendulum
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Feb 20, 2023 - Python
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
python deep-learning pytorch state-estimation humanoids humanoid-robot legged-robots humanoid-robots legged-robotics humanoid-walking open-source-datasets legged-robot contact-estimation
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Dec 29, 2023 - Python
Scripts and configuration files to launch when bringing up REEM-C.
robotics navigation ros dancing-robot grasping whole-body-control humanoid-robot biped humanoid-walking bipedal-robots walking-robot humanoid-control
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Apr 16, 2024 - Python
A simple random searching technique which provides a competitive approach to Reinforcement learning for Locomotion related tasks on Mu-Jo-Co bodies like Humanoid, Half-Cheetah etc
reinforcement-learning numpy reinforcement-learning-algorithms random-search pybullet ars humanoid-walking mujuco half-cheetah
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Jun 21, 2022 - Python
Teaching a humanoid to walk(ish), then displaying in your browser (using tensorflow.js and reinforcement learning)
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Sep 7, 2020 - Jupyter Notebook
Online Control of Humanoid Robot Locomotion. Giulio Romualdi's PhD Thesis
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Aug 24, 2022 - TeX
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Dec 31, 2023 - C++
A humanoid robot simulation ROS pkg for raisim www.raisim.com
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Apr 3, 2023 - C++
EKF model to estimate humanoid state (pose + velocities) based on floating base dynamics equations.
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May 31, 2025
Hybrid Walking Pattern Generator for bipedal robots, merging the Virtual Constraints and the Preview Control theories
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Apr 12, 2021 - C++
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