Upkie
Overview:
- Wheeled biped
- 6 DoFs: 2 hips, 2 knees, 2 wheels
- Open source and cost effective
- Developed and built in-house
- Torque controlled with transparent actuators (low reduction ratios)
- Onboard battery (long autonomy)
- Onboard computer (Raspberry Pi)
Main usages:
- Policy learning
- Whole body control
- State estimation
| Publications |
|---|
| A Data-driven Contact Estimation Method for Wheeled-Biped Robots
Ü. Bora Gökbakan, Frederike Dümbgen, Stéphane Caron , 2024 |
| PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond
Antoine Bambade, Fabian Schramm, Sarah El Kazdadi, Stéphane Caron, Adrien Taylor, Justin Carpentier RSS, 2022 |
Control
Estimation
Balancing