mahaarbo / casclik
Closed-loop inverse kinematics (CLIK) based on CasADi.
☆19Updated last year
Related projects ⓘ
Alternatives and complementary repositories for casclik
- ☆25Updated 4 years ago
- Framework for dynamical system identification of floating-base rigid body tree structures☆62Updated 5 years ago
- ☆29Updated last year
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆35Updated last year
- A framework for writing and solving optimization problem, with an emphasis on robotic control (Beta)☆27Updated 3 weeks ago
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 5 years ago
- URDF for the Kuka IIWA 7 and 14☆20Updated 6 years ago
- This repository contains the necessary libraries, scripts and instructions to learn a Dual-Arm Self-Collision Avoidance Boundary.☆15Updated 6 years ago
- Generic communication to F/T sensors using the XML parser, so it works for any sensor using the ATI netbox.☆21Updated 6 years ago
- Analytical formula of the wrench friction cone for surface contacts☆23Updated 4 years ago
- OpenRAVE bindings for OMPL motion planning algorithms.☆28Updated 6 years ago
- ☆15Updated 3 weeks ago
- Documentation for project Humanoid Path Planner☆30Updated last week
- Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relati…☆12Updated 5 years ago
- ☆20Updated last year
- Integration of Motoman CSDA10f dual arm robot with ROS, Moveit and Gazebo, with aims of creating a robotics developing platform for Invit…☆57Updated 3 years ago
- Python library for getting a casadi function for the forward kinematics of a URDF chain☆95Updated 3 months ago
- This library computes a Contact Wrench Cone using polyhedral presentation.☆12Updated 5 years ago
- ROS-based library for computing manipulability metrics☆14Updated 4 years ago
- OpenPHRI, a complete and generic solution for safe physical human-robot interactions☆26Updated 3 years ago
- Parameterize a trajectory