UMich-BipedLab / Contact-Aided-Invariant-EKF
Example code for contact-aided invariant extended Kalman filtering.
☆81Updated 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
- ROS wrapper for the invariant-ekf C++ library.☆46Updated 5 years ago
- Code for various extended Kalman filter state estimation methods for Cassie.☆43Updated 5 years ago
- ☆32Updated 2 years ago
- ☆25Updated 2 years ago
- Contact estimation for quadruped robots.☆78Updated 3 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆68Updated 2 months ago
- Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms☆130Updated 5 months ago
- ☆59Updated last year
- Example binary running the Pronto state estimator on the ANYmal B robot☆25Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆32Updated 2 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆14Updated 2 years ago
- Header-only C++ library containing controllers designed for Lie Groups.☆64Updated last month
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆59Updated 2 years ago
- ☆42Updated 7 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated 2 years ago
- SEROW Framework for N Legged Robot Walking Estimation☆82Updated last week
- Full kinodynamics constraints for arbitrary robot configurations with factor graphs.☆43Updated 4 months ago
- ☆32Updated 5 months ago
- ☆18Updated 4 years ago
- Matlab scripts to perform system identification for muti-rotor systems☆40Updated 3 years ago
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- Legged State Estimation Library☆17Updated 11 years ago
- Pronto is an efficient EKF state estimator for inertial and sensory motion estimation☆25Updated 6 years ago
- gdb configuration to facilitate debugging drake applications.☆25Updated 5 years ago
- A simple ROS bag plot tool of python☆50Updated 3 years ago
- Control and estimation on Lie groups☆56Updated 10 months 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
- ROS examples for the control toolbox☆35Updated 5 years ago
- ☆111Updated 2 years ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆256Updated last year