Upkie wheeled bipeds

Open-source wheeled biped robots.

Upkies are wheeled biped robots with fully open-source hardware and software. They can use their wheels for balancing and their legs to navigate uneven terrains. Upkies are designed to be built using tools and components that can all be ordered online (like mjbots actuators) and open-source software maintained on GitHub. Their motions are computed onboard on a Raspberry Pi.