ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.

🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

v0 of Asimov, an open-source humanoid robot

A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn

Simulink-based whole body controllers for humanoid robots.

[ArXiv 26] FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions

The Embodied Intelligence Introductory Practice of OpenMOSS Lab (Fudan&SII)

SEROW Framework for N Legged Robot Walking Estimation

ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot

An all-in-one project for humanoid robots from locomotion to motion tracking.

Raspberry pi based humanoid robot.

Efficient data-flow library for robotics.

A public sandbox for simulating grasping in Gazebo with the iCub humanoid

Benchmarking Tool for Model Predictive Control based stable walking for humanoid robot

Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory Optimization'

The tools you need to interact with Vizzy robot.

Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control

Project Galatea lays the foundation for an open-source & open-hardware humanoid robot with an emphasis on assistance and companionship.

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

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

Code for an undergrad project that integrates ChatGPT with the NAO robot.

No description provided.

Zero-shot fall-recovery across 7 humanoid morphologies. MuJoCo + CrossQ code for our RoboCup 2025 paper.

mc-rtc FSM controller to demonstrate biped walking and object grasping

The code release of "Real-time Active Vision for a Humanoid Soccer Robot Using Deep Reinforcement Learning" paper, ICAART 2021

Online Control of Humanoid Robot Locomotion. Giulio Romualdi's PhD Thesis

My publications

Neurorobotic Simulations on the Degradation of Multiple Column Liquid State Machines

This repository contains a codebase to build automatic speech recognition (ASR) systems for iCub and run them within YARP. It also proposes new articulatory-based and unsupervised models for ASR.

A Toolbox for Space, Mobile, and Humanoid Robotic Systems (Pyhton version of the Matlab code from the Space Robotics Lab. at Tohoku University, Sendai, Japan) - Work in progress.