[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans

YARP - Yet Another Robot Platform

Training a humanoid robot for locomotion using Reinforcement Learning

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

The iCub Main Software Repository

SEROW Framework for N Legged Robot Walking Estimation

Whole body Inverse Kinematics based on Pinocchio and qpmad

Implementation of Humanoid Standing Up, from the paper "Learning Humanoid Standing-up Control across Diverse Postures" out of Shanghai, in Pytorch

[Humanoids 2022] Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors

[ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914

Plugins, devices and network wrappers for Yarp-ROS2 interoperation

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

Gait-phase Estimation Module

This is a Human-like Upper-limb Motion Planner (HUMP) for the generation of arm-hand movements in humanoid robots.

Controller implementations and plugins for communicating between the whole body controller libraries developed at ISIR, ocra-recipes, and the iCub Whole Body Interface, WBI, libraries.

A list of awesome research papers for humanoids

Repository that hosts my personal website.

A multimodal foundation model for humanoid robotics that integrates multiple input modalities—text, speech, vision (images and videos), and outputs both actions and speech simultaneously like a transformer.