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Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms
Official implementation of "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
automatic differentiation made easier for C++
qpSWIFT is a light-weight sparse quadratic programming solver
library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization
Efficient Numerical Function Optimization for Robotics under Constraints (written in C++)
EKF/UKF state estimators for estimating base and centroidal states of a legged robot
I provided my own solutions to the exercises of the State Estimation for Robotics book.
A LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation
Probabilistic Contact State Estimation for Legged Robots in ROS
breeef / agibot_x1_train
Forked from AgibotTech/agibot_x1_trainThe reinforcement learning training code for AgiBot X1.
Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filte…
This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning syste…
Jiminy: a fast and portable Python/C++ simulator of poly-articulated robots with OpenAI Gym interface for reinforcement learning
State estimator for legged robots using Optimization, Kalman filtering, and Learning
Repository for the paper "Exciting Action: Investigating Efficient Exploration for Learning Musculoskeletal Humanoid Locomotion"
Bipedal locomotion software for the humanoid robot platform iCub.
ICRA 2022 paper
Walking controller based on linear inverted pendulum tracking
Online Control of Humanoid Robot Locomotion. Giulio Romualdi's PhD Thesis
A collection of MPC walking scripts with various models
Implementation of two legged robots controller. One bipedal (ATLAS) using the inverted pendulum model as well as a quadruped robot. For the quadruped robot multiple controller are implemented, from…
Humanoid walking controller with various baseline methods