Upkie wheeled biped robot
URDF description for the Upkie wheeled biped.
Python module
The description can be loaded directly in various Python robotics frameworks, for instance:
import upkie_description
robot = upkie_description.load_in_pinocchio()
Check out the Python README for more details.
Joint limits
Joint | Limit | Value (±) | Unit |
---|---|---|---|
Hip | Position | 0.2 | rev |
Hip | Velocity | 2 | rps |
Hip | Torque | 10 | Nm |
Knee | Position | 0.4 | rev |
Knee | Velocity | 2 | rps |
Knee | Torque | 10 | Nm |
Wheel | Position | - | - |
Wheel | Velocity | 8 | rps |
Wheel | Torque | 1 | Nm |
See also
License
Upkie's torso derives from the chassis of the mjbots quad. The Apache 2.0 license applies to all files in this repository, to the exception of the wheel_tire mesh which is under the CC BY 4.0 license. Meshes from mjbots are also Apache 2.0. See the files in their respective folders for more details.