Open-source wheeled biped robots

URDF descriptions for Upkie wheeled bipeds

Model predictive control to balance Upkie wheeled bipeds

Train a balancing policy for Upkie by reinforcement learning

3D printing and CAD files for Upkie wheeled bipeds

Designed and built a wheeled bipedal robot using 3D printing, programmed with ROS2.

Locomotion and Posture Control of Wheeled Bipedal using Reinforcement Learning Techniques

Pybullet Gymnasium Environment for WERDNA

Template to create new agents and spines for Upkies

Upkie agent that can balance and crouch