MichaelMarav / ProbabilisticContactEstimation
Probabilistic Contact State Estimation for Legged Robots in ROS
☆66Updated last month
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.☆31Updated last year
- ☆91Updated 2 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated 2 years ago
- Contact estimation for quadruped robots.☆77Updated 3 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆13Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆57Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆25Updated last month
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆77Updated last week
- ☆32Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 6 months ago
- Planning framework for legged locomotion☆17Updated 6 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆38Updated 7 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆64Updated 11 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆37Updated 3 years ago
- Quaternion Model Predictive Control for Legged Robots☆28Updated 4 months ago
- Legged State Estimation Library☆17Updated 11 years ago
- ☆41Updated last year
- Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)☆61Updated 2 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆41Updated last month
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆25Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆43Updated 7 months ago
- ☆20Updated 11 months ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆76Updated this week
- State estimator for legged robots using Optimization, Kalman filtering, and Learning☆20Updated 9 months ago
- ICRA 2022 paper☆33Updated 5 months ago
- ☆31Updated 4 months ago
- ☆60Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆42Updated 4 months ago
- ☆10Updated 2 years ago
- ☆44Updated 2 years ago