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@leggedrobotics

Robotic Systems Lab - Legged Robotics at ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.
README.md

Robotic Systems Lab

Legged Robotics @ ETH Zürich

The Robotic Systems Lab investigates the development of machines and their intelligence to operate in rough and challenging environments.

With a large focus on robots with arms and legs, our research includes novel actuation methods for advanced dynamic interaction, innovative designs for increased system mobility and versatility, and new control and optimization algorithms for locomotion and manipulation. In search of clever solutions, we take inspiration from humans and animals with the goal to improve the skills and autonomy of complex robotic systems to make them applicable in various real-world scenarios.

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  1. darknet_ros darknet_ros Public

    YOLO ROS: Real-Time Object Detection for ROS

    C++ 2.3k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 55 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.1k 470

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.1k 253

  5. open3d_slam open3d_slam Public

    Pointcloud-based graph SLAM written in C++ using open3D library.

    C++ 563 58

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 657 136

Repositories

Showing 10 of 239 repositories
  • terra-baselines Public

    Train, visualize, and evaluate RL policies for the Terra environment.

    leggedrobotics/terra-baselines’s past year of commit activity
    Python 11 0 0 0 Updated Jun 24, 2025
  • terra Public

    A grid world environment for high-level earthworks planning in JAX for RL.

    leggedrobotics/terra’s past year of commit activity
    Python 42 0 3 0 Updated Jun 24, 2025
  • qed-splatter Public
    leggedrobotics/qed-splatter’s past year of commit activity
    Python 0 Apache-2.0 1 0 0 Updated Jun 24, 2025
  • kleinkram Public

    Kleinkram is a Structured bag and mcap Storage Solution Developed by RSL.

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 6 MIT 0 92 (1 issue needs help) 25 Updated Jun 24, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 97 BSD-3-Clause 11 2 2 Updated Jun 23, 2025
  • Pretraining-in-RL Public template Forked from isaac-sim/IsaacLabExtensionTemplate

    Master Project "Pretraining in RL"

    leggedrobotics/Pretraining-in-RL’s past year of commit activity
    Python 5 MIT 72 0 0 Updated Jun 23, 2025
  • open3d_slam_private Public

    This is an advanced and fine-tuned version of open3d_slam that is private to RSL for internal projects and development.

    leggedrobotics/open3d_slam_private’s past year of commit activity
    C++ 1 0 0 3 Updated Jun 23, 2025
  • waverider Public Forked from ethz-asl/waverider

    RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance

    leggedrobotics/waverider’s past year of commit activity
    4 7 0 0 Updated Jun 21, 2025
  • legged_control Public Forked from qiayuanl/legged_control

    NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls

    leggedrobotics/legged_control’s past year of commit activity
    C++ 13 BSD-3-Clause 294 0 0 Updated Jun 20, 2025
  • message_logger Public Forked from ANYbotics/message_logger
    leggedrobotics/message_logger’s past year of commit activity
    C++ 2 BSD-3-Clause 28 0 1 Updated Jun 20, 2025
View all repositories