MichaelMarav / ProbabilisticContactEstimation
Probabilistic Contact State Estimation for Legged Robots in ROS
☆68Updated 2 months ago
Alternatives and similar repositories for ProbabilisticContactEstimation:
Users that are interested in ProbabilisticContactEstimation are comparing it to the libraries listed below
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆32Updated 2 years ago
- ☆92Updated 2 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆14Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆29Updated 2 months ago
- Contact estimation for quadruped robots.☆78Updated 3 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆82Updated this week
- Quaternion Model Predictive Control for Legged Robots☆30Updated 5 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 7 months ago
- Legged State Estimation Library☆17Updated 11 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆37Updated 8 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆38Updated 3 years ago
- ☆42Updated last year
- ☆10Updated 2 years ago
- ICRA 2022 paper☆34Updated 6 months ago
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)☆63Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆59Updated 2 years ago
- ☆32Updated 5 months ago
- ☆22Updated last year
- Planning framework for legged locomotion☆17Updated 7 months ago
- ☆32Updated 4 months ago
- ☆25Updated this week
- Thie repository provides simulation map environment of ICRA2023 Quadruped Robot Challenges☆52Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆88Updated 8 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆65Updated last year
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆45Updated 8 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆44Updated 2 months ago
- ☆36Updated last year
- ☆98Updated 3 months ago