有哪些有趣的开源机器人项目?

倾情整理,建议收藏。曹力科

话不多说,请看:

一、Facebook 的PyRobot

推出时间:2019年。GitHub Star数量:1.1K。语言:Python

地址:facebookresearch/pyrobot

PyRobot 框架由 Facebook 和卡内基梅隆大学共同开发,可以运行由 PyTorch 训练的深度学习模型。在设计上,PyRobot 框架旨在使 AI 研究者和学生在不具备设备驱动程序、控制或规划专业知识的情况下,在几小时内操控机器人工作。

下面是他的演示:

导航

机械臂抓取

码垛

二、PythonRobotics。

用Python实现机器人学的相关算法。包含SLAM算法、导航算法、轨迹规划、机械臂导航、双足算法等。

GitHub Star数量:7.2K。

地址:github.com/AtsushiSakai


三、Pixhawk及其配套项目。

Pixhawk是一个独立的开源硬件项目,旨在为学术界、业余爱好者和开发者社区提供现成的、高质量的、低成本的自动驾驶仪(常用于无人机)硬件设计标准。最初出自苏黎世理工(2008年)。现在已经是第四代了(Pixhawk 4)。长下面这样的。

基本上需要自动驾驶(飞控)等需要用到的硬件和接口它都提供了。它采用2块STM32,一块做核心主控,另一块做IO处理。它提供丰富的传感器,加速度计、陀螺仪、磁力计、气压计、GPS等。它的接口也很丰富,从图片上就能看出来。

和Pixhawk配套的开源软件主要有PX4和ArduPilot。其中PX4在GitHub上有3K的Star,ArduPilot在GitHub上有4.5K的Star。

划重点:Pixhawh是一款开源的自动驾驶仪硬件。和Pixhawk配套的开源软件主要有PX4和ArduPilot。

Pixhawk硬件github地址:Pixhawk

PX4飞控软件GitHub地址:PX4/Firmware

ArduPilot飞控软件GitHub地址ArduPilot/ardupilot

Pixhawk官网Home Page

PX4官网px4.io/

ArduPilot官网ardupilot.org/

Pixhawk测试效果

四、语音对话机器人/智能音箱。

语音对话机器人介绍两款:叮当和悟空。

叮当是一款可以工作在树莓派上的中文语音对话机器人/智能音箱项目。

GitHub Star数量:1.6K。

地址:dingdang-robot

悟空是一个简单、灵活、优雅的中文语音对话机器人/智能音箱项目。

GitHub Star数量:1.4K。

地址:wukong-robot


五、其他

5.1 MVision

MVision是一个机器人视觉的资料库,包括移动机器人、VS-SLAM、ORB-SLAM2、深度学习目标检测、yolov3、行为检测、opencv、PCL、机器学习以及无人驾驶等。

GitHub Star数量:3.4K。

地址:Ewenwan/MVision

5.2 gobot

机器人、无人机、物联网等算法在Golang框架下的实现。

GitHub Star数量:5.9 K

地址:hybridgroup/gobot

5.3 Awesome Robotics。

这是一个收集了包含机器人学相关的课程、书籍、软件、会议、期刊、比赛、行业公司等信息的项目。

GitHub Star数量:1.4K

地址:awesome-robotics

在项目的后面,还列出了相关领域(如人工智能、计算机视觉、机器学习等)出色的项目:

其中提到的部分项目如下:


机器人仿真

  • V-REP – Create, Simulate, any Robot.
  • Microsoft Airsim – Open source simulator based on Unreal Engine for autonomous vehicles from Microsoft AI & Research.
  • Bullet Physics SDK – Real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. Also see pybullet.

可视化,显示、渲染

  • Pangolin – A lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
  • PlotJuggler – Quickly plot and re-plot data on the fly! Includes optional ROS integration.
  • Data Visualization – A list of awesome data visualization tools.

机器学习

  • Keras – Deep Learning library for Python. Convnets, recurrent neural networks, and more. Runs on TensorFlow or Theano.
  • keras-contrib – Keras community contributions.
  • TensorFlow – An open-source software library for Machine Intelligence.
  • recurrentshop – Framework for building complex recurrent neural networks with Keras.
  • tensorpack – Neural Network Toolbox on TensorFlow.
  • tensorlayer – Deep Learning and Reinforcement Learning Library for Researchers and Engineers.
  • TensorFlow-Examples – TensorFlow Tutorial and Examples for beginners.
  • hyperas – Keras + Hyperopt: A very simple wrapper for convenient hyperparameter optimization.
  • elephas – Distributed Deep learning with Keras & Spark
  • PipelineAI – End-to-End ML and AI Platform for Real-time Spark and Tensorflow Data Pipelines.
  • sonnet – Google Deepmind APIs on top of TensorFlow.
  • visipedia/tfrecords – Demonstrates the use of TensorFlow’s TFRecord data format.

图像分割

跟踪

  • simtrack – A simulation-based framework for tracking.
  • ar_track_alvar – AR tag tracking library for ROS.
  • artoolkit5 – Augmented Reality Toolkit, which has excellent AR tag tracking software.

运动学、动力学、约束优化

  • jrl-umi3218/Tasks – Tasks is library for real time control of robots and kinematic trees using constrained optimization.
  • jrl-umi3218/RBDyn – RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.
  • ceres-solver – Solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems. Used in production at Google since 2010.
  • orocos_kinematics_dynamics – Orocos Kinematics and Dynamics C++ library.
  • flexible-collsion-library – Performs three types of proximity queries on a pair of geometric models composed of triangles, integrated with ROS.
  • robot_calibration – generic robot kinematics calibration for ROS

校准工具

强化学习

数据集

  • CoSTAR Block Stacking Dataset – Robot stacking colored children’s blocks (disclaimer: created by @ahundt)
  • shapestacks – simulated stacks of colored children’s objects
  • pascal voc 2012 – The classic reference image segmentation dataset.
  • openimages – Huge imagenet style dataset by Google.
  • COCO – Objects with segmentation, keypoints, and links to many other external datasets.
  • cocostuff – COCO additional full scene segmentation including backgrounds and annotator.
  • Google Brain Robot Data – Robotics datasets including grasping, pushing, and pouring.
  • Materials in Context – Materials Dataset with real world images in 23 categories.
  • Dex-Net 2.0 – 6.7 million pairs of synthetic point clouds and grasps with robustness labels.
  • cocostuff – COCO additional full scene segmentation including backgrounds and annotator.

线性代数 & 几何

  • Eigen – Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
  • Boost.QVM – Quaternions, Vectors, Matrices library for Boost.
  • Boost.Geometry – Boost.Geometry contains instantiable geometry classes, but library users can also use their own.
  • SpaceVecAlg – Implementation of spatial vector algebra for 3D geometry with the Eigen3 linear algebra library.
  • Sophus – C++ implementation of Lie Groups which are for 3D Geometry, using Eigen.

点云

  • libpointmatcher – An “Iterative Closest Point” library robotics and 2-D/3-D mapping.
  • Point Cloud Library (pcl) – The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

SLAM

  • ElasticFusion – Real-time dense visual SLAM system.
  • co-fusion – Real-time Segmentation, Tracking and Fusion of Multiple Objects. Extends ElasticFusion.
  • Google Cartographer – Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
  • OctoMap – An Efficient Probabilistic 3D Mapping Framework Based on Octrees. Contains the main OctoMap library, the viewer octovis, and dynamicEDT3D.
  • ORB_SLAM2 – Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities.

先到这里吧,以后有好的项目再更新。

别都只顾收藏啊!尽情点赞,不必客气!

曹力科

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