UMich-BipedLab / Cassie_StateEstimationLinks
Code for various extended Kalman filter state estimation methods for Cassie.
☆44Updated 6 years ago
Alternatives and similar repositories for Cassie_StateEstimation
Users that are interested in Cassie_StateEstimation are comparing it to the libraries listed below
Sorting:
- ROS wrapper for the invariant-ekf C++ library.☆51Updated 5 years ago
- ☆26Updated 3 years ago
- SEROW Framework for N Legged Robot Walking Estimation☆83Updated last week
- 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
- Example binary running the Pronto state estimator on the ANYmal B robot☆29Updated 2 years ago
- Example code for contact-aided invariant extended Kalman filtering.☆87Updated 6 years ago
- ☆40Updated 10 months ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆76Updated 7 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆43Updated 2 years ago
- Contact estimation for quadruped robots.☆100Updated 3 years ago
- ☆37Updated 2 years ago
- Header-only C++ library containing controllers designed for Lie Groups.☆71Updated 2 weeks ago
- ☆18Updated last year
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆17Updated 3 years ago
- Rviz plugins to display whole-body states and trajectories☆70Updated 3 weeks ago
- ☆18Updated 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
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆14Updated 2 years ago
- Full kinodynamics constraints for arbitrary robot configurations with factor graphs.☆46Updated last month
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆11Updated 3 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☆53Updated last month
- Universal grid map library for mobile robotic mapping☆22Updated last year
- ☆16Updated 5 months ago
- ROS package for creating a terrain cost map using RGBD Camera for locomotion of legged Robots.☆11Updated 4 years ago
- Terrain mapping algorithm for motion planning and control in legged locomotion☆32Updated 7 years ago
- Pronto is an efficient EKF state estimator for inertial and sensory motion estimation☆26Updated 6 years ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆23Updated 2 years ago
- ☆18Updated 4 years ago