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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++ 2.4k 1.2k

  2. radiance_field_ros radiance_field_ros Public

    Implementation of Radiance Fields for Robotic Teleoperation

    Python 57 5

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.2k 488

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.1k 258

  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 678 139

Repositories

Showing 10 of 244 repositories
  • qed-splatter Public
    leggedrobotics/qed-splatter’s past year of commit activity
    Python 1 Apache-2.0 1 0 1 Updated Jul 29, 2025
  • tier4_automotive_hdr_camera Public Forked from tier4/tier4_automotive_hdr_camera

    This repository contains the device driver for the TIER IV Automotive HDR Cameras

    leggedrobotics/tier4_automotive_hdr_camera’s past year of commit activity
    Python 0 GPL-2.0 14 0 0 Updated Jul 29, 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 45 0 3 1 Updated Jul 29, 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 7 MIT 82 0 0 Updated Jul 29, 2025
  • kleinkram Public

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

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 15 MIT 1 92 (1 issue needs help) 13 Updated Jul 29, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 678 MIT 139 33 4 Updated Jul 27, 2025
  • holistic_fusion Public

    Official repository for holistic fusion.

    leggedrobotics/holistic_fusion’s past year of commit activity
    C++ 117 BSD-3-Clause 13 2 1 Updated Jul 25, 2025
  • gfm_distillation Public
    leggedrobotics/gfm_distillation’s past year of commit activity
    Python 0 0 0 0 Updated Jul 23, 2025
  • mav_active_3d_planning Public Forked from ethz-asl/mav_active_3d_planning

    Modular framework for online informative path planning.

    leggedrobotics/mav_active_3d_planning’s past year of commit activity
    C++ 1 BSD-3-Clause 113 0 0 Updated Jul 23, 2025
  • voxblox Public Forked from ethz-asl/voxblox

    A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

    leggedrobotics/voxblox’s past year of commit activity
    C++ 11 BSD-3-Clause 369 0 0 Updated Jul 23, 2025
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