liwanyue123 Goto Github PK

a-ros-driver-for-usb-com

This is a ROS driver for serial port that is capable of reading, writing, and parsing messages from a USB serial port. I have implemented a message fragment merging function. With this driver, it is easy to connect various conversion modules, such as the 232_USB or CAN_USB modules.

barrier-function

Matlab Visualization for OCS2 Barrier Functions

bilibili_go_server

candlelight_fw

gs_usb compatible firmware for candleLight, cantact and canable

cheetah-software

gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

lagrange-dynamics-of-quadruped-single-leg-

I provided a matlab program that can generate the single leg Lagrangian symbolic formula of the quadruped robot

liwanyue123.github.io

blog

low-impact-cycloid-curve-for-legged-robots

This is an alternative low-impact cycloid foot trajectory to the bezier curve in the MIT Cheetah open-source project

ocp_sqp

rf-mpc

Representation-Free Model Predictive Control for Dynamic Quadruped

rf-mpc-uav

The RF-MPC algorithm, originally designed for quadruped robots, is adapted for use with UAVs after some modifications.

sophus

C++ implementation of Lie Groups using Eigen.