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cheetah-software

cheetah-software-addbiped

contact-aided-invariant-ekf

Example code for contact-aided invariant extended Kalman filtering.

crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

drake

A planning, control, and analysis toolbox for nonlinear dynamical systems. More info at

drake-external-examples

Examples of how to use Drake in your own project.

eigen-qld

eigen-qld allow to use the QLD QP solver with the Eigen3 library.

gait-tracking-with-x-imu

humanoid

lipm_walking_controller

Walking controller based on linear inverted pendulum tracking

mini-cheetah-pybullet

mpc and wbc for mini cheetah in pybullet

mit-cheetah-note

MIT Cheetah仿真平台源码笔记以及一部分第三方组件

orb_slam2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

rbdyn

RBDyn provides a set of classes and functions to model the dynamics of rigid body systems.

sch-core

Implementation and computation algorithms for the convex hulls

scott-kuindersma-mentioned-papers

Scott Kuindersma在讲述Atlas控制技术时提到的部分论文

slip_control

Spring Loaded Inverted Pendulum control and visualization python tools

soem

Simple Open Source EtherCAT Master

spacevecalg

Implementation of spatial vector algebra with the Eigen3 linear algebra library.

tasks

The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.