UMich-BipedLab / Contact-Aided-Invariant-EKFView external linksLinks
Example code for contact-aided invariant extended Kalman filtering.
☆100Sep 4, 2018Updated 7 years ago
Alternatives and similar repositories for Contact-Aided-Invariant-EKF
Users that are interested in Contact-Aided-Invariant-EKF are comparing it to the libraries listed below
Sorting:
- Code for various extended Kalman filter state estimation methods for Cassie.☆45May 30, 2019Updated 6 years ago
- C++ library to implement invariant extended Kalman filtering for aided inertial navigation.☆533Aug 17, 2019Updated 6 years ago
- ROS wrapper for the invariant-ekf C++ library.☆54Aug 17, 2019Updated 6 years ago
- ☆17Sep 16, 2022Updated 3 years ago
- ☆46May 14, 2022Updated 3 years ago
- Central repository for operational instructions and installation scripts.☆25Dec 20, 2021Updated 4 years ago
- System Identification For Constrained Robots☆23Feb 27, 2025Updated 11 months ago
- Using an Extended Kalman Filter to calculate a UAV's pose from IMU and GPS data.☆56May 1, 2020Updated 5 years ago
- [IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275☆15Dec 29, 2022Updated 3 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆17Jul 28, 2022Updated 3 years ago
- ☆45Sep 29, 2024Updated last year
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆92Mar 27, 2023Updated 2 years ago
- Fast Robot Optimization and Simulation Toolkit (FROST)☆170Nov 29, 2023Updated 2 years ago
- TROPIC: TRajectory OPtimization In CasADi☆56May 16, 2021Updated 4 years ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆294Nov 11, 2025Updated 3 months ago
- ☆37Feb 2, 2023Updated 3 years ago
- SEROW Framework for N Legged Robot Walking Estimation☆90Updated this week
- C++ Implementation of "An Equivariant Filter for Visual Inertial Odometry", ICRA 2021☆80Jul 28, 2022Updated 3 years ago
- Code dump of of a state estimator estimator for a robot with a floating base. Previously used on the Mercury robot.☆17Feb 18, 2020Updated 5 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- Tools for enabling quick display and analysis of trajectories and transformations in Matlab.☆38Mar 13, 2021Updated 4 years ago
- Pronto is an efficient EKF state estimator for inertial and sensory motion estimation☆27Dec 4, 2018Updated 7 years ago
- ICRA 2022 paper☆41Aug 30, 2024Updated last year
- Contact estimation for quadruped robots.☆110Nov 5, 2021Updated 4 years ago
- RAL 24: A decentralized state estimation framework for legged robots.☆17Jul 2, 2024Updated last year
- Code of paper "Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration with Rotating Earth"☆95Aug 7, 2020Updated 5 years ago
- ☆13Sep 26, 2023Updated 2 years ago
- Implementation of the paper "Hybrid Zero Dynamics of Planar Bipedal Walking"☆10Dec 6, 2018Updated 7 years ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆14Jun 23, 2023Updated 2 years ago
- Whole body Inverse Kinematics based on Pinocchio and qpmad☆39Dec 31, 2023Updated 2 years ago
- InEKF: The Invariant Extended Kalman Filter on Matrix Lie Groups☆63Nov 11, 2023Updated 2 years ago
- ☆52Mar 26, 2019Updated 6 years ago
- Distribution and filtering on SO(3) x Euclidean space☆12Jun 24, 2022Updated 3 years ago
- RBDL - Rigid Body Dynamics Library☆12Jul 27, 2022Updated 3 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆143Sep 9, 2025Updated 5 months ago
- A continuous deep reinforcement learning framework for robotics☆71Sep 28, 2021Updated 4 years ago
- [ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914☆17Aug 20, 2024Updated last year
- This library computes a Contact Wrench Cone using polyhedral presentation.☆13Oct 15, 2019Updated 6 years ago
- Tutorial on MPC☆18Sep 25, 2025Updated 4 months ago