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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 60 7

  3. legged_gym legged_gym Public

    Isaac Gym Environments for Legged Robots

    Python 2.5k 526

  4. ocs2 ocs2 Public

    Optimal Control for Switched Systems

    C++ 1.2k 281

  5. open3d_slam open3d_slam Public

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

    C++ 586 61

  6. elevation_mapping_cupy elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    Python 782 162

Repositories

Showing 10 of 265 repositories
  • kleinkram Public

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

    leggedrobotics/kleinkram’s past year of commit activity
    TypeScript 22 MIT 3 109 (2 issues need help) 5 Updated Nov 24, 2025
  • unity_ros_teleoperation Public

    Unity project for OpenXR control of ROS systems

    leggedrobotics/unity_ros_teleoperation’s past year of commit activity
    C# 101 BSD-3-Clause 16 0 0 Updated Nov 23, 2025
  • viplanner Public

    ViPlanner: Visual Semantic Imperative Learning for Local Navigation

    leggedrobotics/viplanner’s past year of commit activity
    Python 576 55 17 3 Updated Nov 20, 2025
  • grand_tour_box Public

    Drivers, software and utilities for the GrandTour Boxi sensor payload.

    leggedrobotics/grand_tour_box’s past year of commit activity
    C++ 10 MIT 1 30 2 Updated Nov 17, 2025
  • direct_lidar_inertial_odometry Public Forked from vectr-ucla/direct_lidar_inertial_odometry

    [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/direct_lidar_inertial_odometry’s past year of commit activity
    C++ 4 MIT 208 0 0 Updated Nov 17, 2025
  • rsl_rl Public

    A fast and simple implementation of RL algorithms, designed to run fully on GPU.

    leggedrobotics/rsl_rl’s past year of commit activity
    Python 1,881 434 3 9 Updated Nov 14, 2025
  • elevation_mapping_cupy Public

    Elevation Mapping on GPU.

    leggedrobotics/elevation_mapping_cupy’s past year of commit activity
    Python 782 MIT 162 36 5 Updated Nov 13, 2025
  • GraspGen Public Forked from NVlabs/GraspGen

    Official repo for GraspGen: A Diffusion-based Framework for 6-DOF Grasping

    leggedrobotics/GraspGen’s past year of commit activity
    Python 1 23 0 0 Updated Nov 8, 2025
  • navitrace_evaluation Public
    leggedrobotics/navitrace_evaluation’s past year of commit activity
    Jupyter Notebook 10 MIT 0 0 0 Updated Nov 4, 2025
  • robot_self_filter Public

    ros2 version of the robot_self_filter package.

    leggedrobotics/robot_self_filter’s past year of commit activity
    C++ 13 6 2 0 Updated Nov 3, 2025
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