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@dfki-ric-underactuated-lab

DFKI RIC Underactuated Lab

Underactuated Robotics Lab at Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), Bremen, Germany

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  1. torque_limited_simple_pendulum torque_limited_simple_pendulum Public

    Torque Limited Simple Pendulum Underactuated System

    Python 57 18

  2. double_pendulum double_pendulum Public

    Dual purpose Acrobot and Pendubot Platform

    Python 42 33

  3. acromonk acromonk Public

    AcroMonk: A Minimalist Underactuated Brachiating Robot

    Python 50 5

  4. mini-cheetah-tmotor-python-can mini-cheetah-tmotor-python-can Public

    Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface

    Python 38 18

Repositories

Showing 10 of 28 repositories
  • double_pendulum Public

    Dual purpose Acrobot and Pendubot Platform

    dfki-ric-underactuated-lab/double_pendulum’s past year of commit activity
    Python 42 BSD-3-Clause 33 3 1 Updated Apr 25, 2025
  • real_ai_gym_leaderboard Public Forked from LasseMay/test_pandoc_ci

    repository that renders leaderboards for the real-ai-gym.

    dfki-ric-underactuated-lab/real_ai_gym_leaderboard’s past year of commit activity
    JavaScript 1 1 0 0 Updated Apr 25, 2025
  • dfki-quad Public

    This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller using MPC, WBC and different Gait Sequencers and hardware drivers to be used with different quadrupeds.

    dfki-ric-underactuated-lab/dfki-quad’s past year of commit activity
    C++ 15 1 0 0 Updated Apr 23, 2025
  • mimpc Public

    Mixed-Integer MPC library. Was successfully demonstrated on a free-floating platform with binary thrusters (under timing constraints) and a reaction wheel.

    dfki-ric-underactuated-lab/mimpc’s past year of commit activity
    C++ 7 BSD-3-Clause 0 0 0 Updated Apr 10, 2025
  • robot_control_msgs Public

    ROS 2 messages for (legged) robot control

    dfki-ric-underactuated-lab/robot_control_msgs’s past year of commit activity
    CMake 0 BSD-3-Clause 0 0 0 Updated Mar 17, 2025
  • BeltManipulator Public
    dfki-ric-underactuated-lab/BeltManipulator’s past year of commit activity
    Julia 1 BSD-3-Clause 0 0 0 Updated Mar 17, 2025
  • ricmonk Public

    RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation

    dfki-ric-underactuated-lab/ricmonk’s past year of commit activity
    Python 4 BSD-3-Clause 1 0 0 Updated Feb 11, 2025
  • summer_of_underactuation_2024 Public
    dfki-ric-underactuated-lab/summer_of_underactuation_2024’s past year of commit activity
    0 BSD-3-Clause 1 0 0 Updated Jan 7, 2025
  • hopping_leg Public

    3 DOF Hopping Leg with 2 Actuators and 1 Passive DOF

    dfki-ric-underactuated-lab/hopping_leg’s past year of commit activity
    0 BSD-3-Clause 0 0 0 Updated Sep 13, 2024
  • mppc Public

    Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments

    dfki-ric-underactuated-lab/mppc’s past year of commit activity
    Python 21 BSD-3-Clause 0 0 0 Updated Sep 11, 2024
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