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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 463

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.1k 249

  5. open3d_slam open3d_slam Public

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

    C++ 558 58

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 644 136

Repositories

Showing 10 of 235 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 13, 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 1 Updated Jun 13, 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 4 MIT 72 0 0 Updated Jun 12, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 95 BSD-3-Clause 10 2 2 Updated Jun 12, 2025
  • marladona-isaac-lab Public

    External extenstion template based on Isaac Lab

    leggedrobotics/marladona-isaac-lab’s past year of commit activity
    Python 5 Apache-2.0 1 0 0 Updated Jun 11, 2025
  • foci Public

    Fast, orientation-aware trajectory planning using a novel Gaussian overlap-based collision formulation, modeling both robot and environment as Gaussian Splat.

    leggedrobotics/foci’s past year of commit activity
    Python 3 MIT 0 0 0 Updated Jun 11, 2025
  • gtsam_catkin Public

    Catkinized version of gtsam.

    leggedrobotics/gtsam_catkin’s past year of commit activity
    CMake 5 BSD-3-Clause 2 0 1 Updated Jun 11, 2025
  • qed-splatter Public
    leggedrobotics/qed-splatter’s past year of commit activity
    Python 0 Apache-2.0 1 0 0 Updated Jun 10, 2025
  • small_gicp Public Forked from koide3/small_gicp

    Efficient and parallel algorithms for point cloud registration [C++, Python]

    leggedrobotics/small_gicp’s past year of commit activity
    C++ 1 MIT 74 0 0 Updated Jun 10, 2025
  • dlio Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    Fork of [IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

    leggedrobotics/dlio’s past year of commit activity
    C++ 5 MIT 165 0 0 Updated Jun 9, 2025
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