MichaelMarav / lcdLinks
Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements
☆16Updated 2 years ago
Alternatives and similar repositories for lcd
Users that are interested in lcd are comparing it to the libraries listed below
Sorting:
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆39Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated last month
- Probabilistic Contact State Estimation for Legged Robots in ROS☆75Updated 5 months ago
- Quaternion Model Predictive Control for Legged Robots☆50Updated 8 months ago
- ☆19Updated last year
- Quadruped state estimation using kalman☆12Updated 2 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆25Updated 2 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆22Updated 2 weeks ago
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- Planning framework for legged locomotion☆19Updated 10 months ago
- ICRA 2022 paper☆38Updated 9 months ago
- Code for various extended Kalman filter state estimation methods for Cassie.☆44Updated 6 years ago
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆14Updated 2 years ago
- ☆21Updated last month
- Collection of workflows, best-practices and guidelines for software development.☆28Updated last year
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 6 months ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆19Updated 3 years ago
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆11Updated 3 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆62Updated 2 years ago
- ☆15Updated 3 months ago
- Standardised ROS messages for encoding whole-body state information☆14Updated last week
- Code dump of of a state estimator estimator for a robot with a floating base. Previously used on the Mercury robot.☆16Updated 5 years ago
- Rviz plugins to display whole-body states and trajectories☆68Updated last week
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- ☆35Updated 2 years ago
- ☆37Updated 7 months ago
- ☆26Updated 7 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data☆56Updated last month