upkie
3.4.0
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Upkie is a fully open source self-balancing wheeled biped robot. It has wheels for balancing and legs to negotiate uneven terrains. Upkies are designed to be buildable at home using only tools and components ordered online, like mjbots actuators. You can develop in Python or C++, on Linux or macOS, then deploy your software to the robot's Raspberry Pi.
This repository contains all the materials needed to build and animate an Upkie:
Questions are welcome in the Chat and Discussions forum.
You can play with a balancing Upkie right away from your command line:
Click on the robot in the simulator window to apply external forces. If you have a gaming controller connected to your computer, steer its joysticks to move the robot around 🎮
You can develop your own agent using the Gymnasium environments distributed in upkie.envs
. For example, here is a simple proportional-feedback balancer:
To run this agent, you will first need to start a simulation:
Then execute the Python code above. To run the agent on the robot, do the same but running the pi3hat spine instead of the simulation.
The demo agent simply balances in place by PID control. There are more advanced Upkie agents distributed in their own repositories. Check out the ones you are interested in:
Head over to the new_agent template to create your own.
If you built an Upkie or use parts of this project in your works, please cite it as follows: