UMich-BipedLab / Contact-Aided-Invariant-EKF
Example code for contact-aided invariant extended Kalman filtering.
☆84Updated 6 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
- Code for various extended Kalman filter state estimation methods for Cassie.☆44Updated 5 years ago
- ROS wrapper for the invariant-ekf C++ library.☆46Updated 5 years ago
- Contact estimation for quadruped robots.☆85Updated 3 years ago
- ☆25Updated 2 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆71Updated 3 months ago
- ☆34Updated 2 years ago
- Legged State Estimation Library☆17Updated 11 years ago
- Example binary running the Pronto state estimator on the ANYmal B robot☆26Updated 2 years ago
- SEROW Framework for N Legged Robot Walking Estimation☆82Updated this week
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆36Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆61Updated 2 years ago
- Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms☆135Updated 6 months ago
- ☆61Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆24Updated 2 years ago
- Header-only C++ library containing controllers designed for Lie Groups.☆66Updated this week
- ☆39Updated 6 months ago
- Full kinodynamics constraints for arbitrary robot configurations with factor graphs.☆43Updated 5 months ago
- ☆18Updated 4 years ago
- This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additi…☆96Updated last year
- Pronto is an efficient EKF state estimator for inertial and sensory motion estimation☆25Updated 6 years ago
- A simple ROS bag plot tool of python☆50Updated 3 years ago
- ROS examples for the control toolbox☆35Updated 5 years ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆258Updated 2 years ago
- C++ interface for hpipm, a high-performance interior point MPC solver☆91Updated last year
- A high-level online motion planner for agile legged robots, implemented as a ROS package☆24Updated 2 years ago
- VRPN ROS Client☆65Updated 2 years ago
- This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other…☆48Updated last year
- The platfrom for aerial robot (e.g. general multirotor, hydrus, di, dragon, etc)☆38Updated 3 weeks ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆16Updated 2 years ago
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago