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@ami-iit

Artificial and Mechanical Intelligence

README.md

Artificial and Mechanical Intelligence

Welcome to the GitHub organization of the Artificial and Mechanical Intelligence (AMI) lab at the Italian Institute of Technology.

Our mission is to combine Artificial Intelligence with Mechanics to provide mankind the next generation of Humanoid Robots that will help us face the looming societal challenges.

If you want to know more about us:

This GitHub organization contains different types of repositories:

  • Reusable software libraries that make algorithms developed in AMI, developed in C++, Python or MATLAB available to the research community and ready to be used.
  • Reproducible publication software for each paper published by AMI, to easily reproduce the results contained in the scientific papers written by AMI members. These repos can be identified by the paper_ prefix.
  • Organisational repositories, used to organize research and development activities. These repos can be identified by the axis_, component_, element_ or projection_ prefix in their name.
  • Research Outreach repositories, used to advertise and contain material related to workshops, courses or other activities by AMI members. These repos can be identified by the ws_ or course_ prefix in their name.

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  1. bipedal-locomotion-framework bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    C++ 163 39

  2. lie-group-controllers lie-group-controllers Public

    Header-only C++ library containing controllers designed for Lie Groups.

    CMake 65 7

  3. matio-cpp matio-cpp Public

    A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.

    C++ 61 9

  4. adam adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    Python 164 21

  5. ironcub-mk1-software ironcub-mk1-software Public

    In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.

    MATLAB 13 3

  6. robot-log-visualizer robot-log-visualizer Public

    Visualizer to display the data logged with YarpRobotLoggerDevice

    Python 26 5

Repositories

Showing 10 of 144 repositories
  • jaxsim Public

    A differentiable physics engine and multibody dynamics library for control and robot learning.

    ami-iit/jaxsim’s past year of commit activity
    Python 110 BSD-3-Clause 14 10 (1 issue needs help) 8 Updated Mar 19, 2025
  • paper_guo_2025_iros_neural_kinematics_prediction Public

    This repo contains the code and data to reproduce the results of PINN-based neural joint kinematics predictor.

    ami-iit/paper_guo_2025_iros_neural_kinematics_prediction’s past year of commit activity
    Python 1 BSD-3-Clause 0 0 0 Updated Mar 19, 2025
  • human-model-generator Public

    Python-based tool to generate anthropometric human whole-body models in a URDF format

    ami-iit/human-model-generator’s past year of commit activity
    Python 16 BSD-3-Clause 3 2 1 Updated Mar 18, 2025
  • biomechanical-analysis-framework Public

    Software framework to compute human whole-body kinematics and dynamics.

    ami-iit/biomechanical-analysis-framework’s past year of commit activity
    Python 3 BSD-3-Clause 2 0 2 Updated Mar 17, 2025
  • robots-configuration Public Forked from robotology/robots-configuration

    Contains robots configuration files

    ami-iit/robots-configuration’s past year of commit activity
    CMake 0 BSD-3-Clause 71 0 1 Updated Mar 17, 2025
  • cmake-nightly-testing-runner Public

    Experimental GitHub Action-based runner for CMake Nightly Testing

    ami-iit/cmake-nightly-testing-runner’s past year of commit activity
    CMake 0 BSD-3-Clause 0 0 1 Updated Mar 16, 2025
  • adam Public

    adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

    ami-iit/adam’s past year of commit activity
    Python 164 BSD-3-Clause 21 8 4 Updated Mar 12, 2025
  • liecasadi Public

    Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

    ami-iit/liecasadi’s past year of commit activity
    Python 76 BSD-3-Clause 5 0 0 Updated Mar 12, 2025
  • bipedal-locomotion-framework Public

    Suite of libraries for achieving bipedal locomotion on humanoid robots

    ami-iit/bipedal-locomotion-framework’s past year of commit activity
    C++ 163 BSD-3-Clause 39 67 (1 issue needs help) 9 Updated Mar 11, 2025
  • element_physics-neural-inertial-odometry Public

    To track and predict the human base kinematics.

    ami-iit/element_physics-neural-inertial-odometry’s past year of commit activity
    0 BSD-3-Clause 0 1 0 Updated Mar 7, 2025
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