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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 40 2

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 1.4k 387

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 911 229

  5. open3d_slam open3d_slam Public

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

    C++ 517 52

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 552 117

Repositories

Showing 10 of 207 repositories
  • interactive_navigation Public

    MT: Task Planning for Interactive Navigation

    leggedrobotics/interactive_navigation’s past year of commit activity
    Python 4 MIT 0 0 0 Updated Nov 28, 2024
  • G-VOM Public Forked from unmannedlab/G-VOM

    G-VOM: A GPU Accelerated Voxel Off-Road Mapping System

    leggedrobotics/G-VOM’s past year of commit activity
    Python 15 GPL-3.0 19 0 0 Updated Nov 28, 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 0 MIT 47 0 0 Updated Nov 25, 2024
  • crowd_navigation_mt Public
    leggedrobotics/crowd_navigation_mt’s past year of commit activity
    Python 1 MIT 0 0 0 Updated Nov 25, 2024
  • gtsam_catkin Public

    Catkinized version of gtsam.

    leggedrobotics/gtsam_catkin’s past year of commit activity
    CMake 4 BSD-3-Clause 2 0 0 Updated Nov 24, 2024
  • open3d_slam Public

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

    leggedrobotics/open3d_slam’s past year of commit activity
    C++ 517 BSD-3-Clause 52 5 4 Updated Nov 21, 2024
  • isaac_ros_common Public Forked from NVIDIA-ISAAC-ROS/isaac_ros_common

    Common utilities, packages, scripts, Dockerfiles, and testing infrastructure for Isaac ROS packages.

    leggedrobotics/isaac_ros_common’s past year of commit activity
    Shell 2 140 0 0 Updated Nov 21, 2024
  • dinov2 Public Forked from facebookresearch/dinov2

    PyTorch code and models for the DINOv2 self-supervised learning method.

    leggedrobotics/dinov2’s past year of commit activity
    Jupyter Notebook 0 Apache-2.0 836 0 0 Updated Nov 19, 2024
  • viplanner Public

    ViPlanner: Visual Semantic Imperative Learning for Local Navigation

    leggedrobotics/viplanner’s past year of commit activity
    Python 341 35 3 0 Updated Nov 19, 2024
  • dlio Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    Fork of [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

    leggedrobotics/dlio’s past year of commit activity
    C++ 0 MIT 129 0 1 Updated Nov 18, 2024
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