UMich-BipedLab / CLF_reactive_planning_systemLinks
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…
☆63Updated 3 years ago
Alternatives and similar repositories for CLF_reactive_planning_system
Users that are interested in CLF_reactive_planning_system are comparing it to the libraries listed below
Sorting:
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆23Updated 2 years ago
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆37Updated 4 years ago
- A high-level online motion planner for agile legged robots, implemented as a ROS package☆27Updated 3 years ago
- Contact estimation for quadruped robots.☆100Updated 3 years ago
- ☆69Updated last year
- Planning framework for legged locomotion☆19Updated last year
- Robot-centric elevation mapping for rough terrain navigation☆38Updated 2 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆77Updated 8 months ago
- ☆104Updated 2 years ago
- ☆26Updated 3 years ago
- ☆65Updated 2 years ago
- Terrain mapping algorithm for motion planning and control in legged locomotion☆32Updated 7 years ago
- Sampling based control for kino-dynamic contact aware motion planning.☆30Updated 4 years ago
- Legged State Estimation Library☆17Updated 11 years ago
- RobCoGen code generator for any quadruped robot from the xacro description☆14Updated 4 years ago
- ROS package for creating a terrain cost map using RGBD Camera for locomotion of legged Robots.☆11Updated 4 years ago
- Code for various extended Kalman filter state estimation methods for Cassie.☆44Updated 6 years ago
- Example binary running the Pronto state estimator on the ANYmal B robot☆30Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆44Updated 2 years ago
- ☆21Updated 2 years ago
- ☆95Updated this week
- ☆18Updated last year
- Universal grid map library for mobile robotic mapping☆22Updated last year
- ☆41Updated 10 months ago
- ☆24Updated 4 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 2 years ago
- Non-linear model predictive control (NMPC) library☆54Updated 2 months ago
- Local Navigation Planner for Legged Robots☆187Updated 2 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆17Updated 3 years ago
- ROS wrapper for the invariant-ekf C++ library.☆51Updated 6 years ago