An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

Control-software for Quadrupedal Robots, especially for SpotMicro

Sign Language Recognition using Gait Energy Image

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control

This is the official implementation of the paper "Generating Emotive Gaits for Virtual Agents Using Affect-Based Autoregression".

Hexapod simulator

Robot agnostic rqt plugin which allows the user to create joint trajectories 📈

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Analytical Method