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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 42 2

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 1.5k 406

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 951 232

  5. open3d_slam open3d_slam Public

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

    C++ 530 54

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 571 119

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 8 MIT 0 0 0 Updated Jan 3, 2025
  • viplanner Public

    ViPlanner: Visual Semantic Imperative Learning for Local Navigation

    leggedrobotics/viplanner’s past year of commit activity
    Python 376 39 6 0 Updated Jan 2, 2025
  • 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++ 1 MIT 134 0 0 Updated Dec 26, 2024
  • crowd_navigation_mt Public
    leggedrobotics/crowd_navigation_mt’s past year of commit activity
    Python 1 MIT 0 0 0 Updated Dec 25, 2024
  • hesai_lidar_ros_driver Public Forked from HesaiTechnology/HesaiLidar_ROS_2.0

    A general ROS driver for Hesai LiDARs

    leggedrobotics/hesai_lidar_ros_driver’s past year of commit activity
    C++ 0 49 0 0 Updated Dec 24, 2024
  • wild_visual_navigation Public

    Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

    leggedrobotics/wild_visual_navigation’s past year of commit activity
    Python 146 MIT 13 8 2 Updated Dec 23, 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 782 206 20 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 32 GPL-3.0 27 0 3 Updated Dec 20, 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 48 0 0 Updated Dec 15, 2024
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