Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.
Implementation of Snake locomotion mechanisms on the derived Simplified Kinematical Model of discrete Snake Robot in MATLAB.
Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet trajectory generation, ZMP and CoM trajectory generation.
Robust phase space planning of legged locomotion over rough terrain
Files for 3d printing and Matlab simulation of a compliant robotic leg based on Klann's linkage
The 5 basic principles of Robotics namely, Kinematics, Locomotion, Perception, Localization, and both planning and navigation have been used to operate various mobile robots in multiple Simulation Environments.
This repository is still in progress, it contains the file created to the master's thesis about the develop of a DRL control for a quadrupedal robot.
How does movement consistency impact use-dependent locomotor learning
This repository includes all data, analysis, and locomotion planners associated with the paper "Multi-gait Locomotion Planning and Tracking for Tendon-actuated Terrestrial Soft Robot (TerreSoRo)", accepted to IROS 2023.
Data and code accompanying 10.7554/eLife.60233
Data,code, and figures accompanying publication: 10.1098/rspb.2020.2734
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