stephane-caron / multi-contact-zmp
ZMP support areas for multi-contact stability under frictional contacts
☆12Updated 5 years ago
Related projects: ⓘ
- ☆39Updated 2 years ago
- ICRA 2022 paper☆28Updated 3 weeks ago
- Standardised ROS messages for encoding whole-body state information☆15Updated last month
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆55Updated 6 months 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 4 years ago
- Walking controller based on linear inverted pendulum tracking☆18Updated 6 months ago
- ☆24Updated 4 years ago
- Programmatically compile xacro files (no ROS required).☆27Updated 4 months ago
- XBotControl framework: XBotCore + OpenSoT + CartesI/O☆33Updated 10 months ago
- Whole-Body Control framework developed at the Stanford Robotics and AI Lab☆25Updated 10 years ago
- Collection of centroidal control for legged robots☆61Updated last month
- Demo scripts to quickly start with Crocoddyl☆18Updated 2 months ago
- ☆23Updated 2 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆16Updated last year
- Python Implementation of Planning and Control☆45Updated 6 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆45Updated last year
- A collection of MPC walking scripts with various models☆18Updated 2 months ago
- C++ library for optimization-based control of redundant robots☆35Updated last week
- A basket of generic ros nodes based on ViSP library☆40Updated 3 weeks ago
- An Open Source Task Solving library with Constraints☆22Updated 9 years ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆20Updated 3 weeks ago
- Unified C++ interface for quadratic programming solvers☆45Updated 11 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆9Updated 4 years ago
- An efficient task-space capacity calculation package for robotics and biomechanics☆26Updated last year
- ROS-based MuJoCo utilities☆18Updated 2 months ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆23Updated this week
- Whole body Inverse Kinematics based on Pinocchio and qpmad☆25Updated 8 months ago
- Framework for dynamical system identification of floating-base rigid body tree structures☆61Updated 5 years ago
- ☆23Updated this week
- ☆28Updated last year