ihmcrobotics/ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

What it solves

This project provides a comprehensive software stack for controlling and simulating humanoid robots. It addresses the challenge of managing the complex dynamics, perception, and real-time communication required to operate high-degree-of-freedom humanoid platforms.

How it works

The software operates as a modular ecosystem of libraries. It integrates rigid-body dynamics, convex optimization for motion planning, and state estimation (EKF) to manage robot movement. It leverages a Java-based architecture with specialized tools for soft real-time threading on Linux and EtherCAT communication for hardware interface.

Who it’s for

Robotics researchers and engineers developing humanoid robots, such as Nadia, Valkyrie, and Alex, who need a production-ready framework for control and simulation.

Highlights

  • Humanoid Focus: Specifically designed and proven on a variety of humanoid platforms.
  • Integrated Ecosystem: Includes dedicated libraries for 3D geometry (Euclid), rigid-body dynamics (Mecano), and convex optimization.
  • Real-time Capabilities: Supports soft real-time Java threading and EtherCAT master implementation.
  • Simulation and Visualization: Provides the Simulation Construction Set 2 (SCS2) for environment building and analysis.
  • ROS 2 Integration: Offers a ROS 2 API for core components and message definitions for external project compatibility.

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