MichaelMarav / ProbabilisticContactEstimation
Probabilistic Contact State Estimation for Legged Robots in ROS
☆60Updated 8 months ago
Related projects ⓘ
Alternatives and complementary repositories for ProbabilisticContactEstimation
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- ☆85Updated last year
- 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…☆56Updated 2 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆66Updated this week
- Contact estimation for quadruped robots.☆73Updated 3 years ago
- A distributed whole-body model predictive control for quadruped robots☆35Updated 2 weeks ago
- Legged State Estimation Library☆17Updated 11 years ago
- ☆56Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆35Updated 5 months ago
- Quaternion Model Predictive Control for Legged Robots☆25Updated last month
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆58Updated 4 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated last year
- Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)☆58Updated 2 years ago
- ☆40Updated last year
- Planning framework for legged locomotion☆17Updated 4 months ago
- ☆19Updated 8 months ago
- ICRA 2022 paper☆29Updated 2 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆41Updated 5 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆34Updated 3 years ago
- ☆30Updated last year
- ☆30Updated last month
- Code for various extended Kalman filter state estimation methods for Cassie.☆43Updated 5 years ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆20Updated 2 years ago
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆25Updated 3 years ago
- ☆10Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆77Updated 4 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆28Updated 3 months ago
- ☆29Updated last year