hyparxis / cassie-ik-id
Inverse kinematics and inverse dynamics for a bipedal robot
☆12Updated 5 years ago
Related projects ⓘ
Alternatives and complementary repositories for cassie-ik-id
- ICRA 2022 paper☆29Updated 2 months ago
- A collection of MPC walking scripts with various models☆19Updated last month
- Deep Reinforcement Learning for bipedal robots☆9Updated 8 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆27Updated last month
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 3 years ago
- ☆30Updated last year
- ☆15Updated 11 months ago
- ☆16Updated last year
- ☆13Updated 2 years ago
- Standardised ROS messages for encoding whole-body state information☆15Updated this week
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- ☆16Updated 3 weeks ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆27Updated this week
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆10Updated 4 years ago
- ☆11Updated 5 years ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆10Updated last year
- ☆44Updated 2 years ago
- Minimal project using Pinocchio as Rigid Body Dynamics library☆19Updated 2 weeks ago
- Analytical Contact Jacobian for bipedal robots using URDF☆14Updated 11 months ago
- Mujoco Gym environment for the control of quadruped robots☆15Updated 2 weeks ago
- Kino-dynamic optimization algorithm for multiped robots☆39Updated 3 years ago
- ☆23Updated 4 years ago
- Model predictive control in Python based on quadratic programming☆32Updated 2 months ago
- ☆10Updated 2 weeks ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- ☆17Updated 9 months ago
- ☆14Updated 2 weeks ago
- ☆30Updated 2 years ago
- Utilities for using mujoco and pinocchio☆12Updated 2 years ago