Pinned Repositories
Cheetah3-Impedance-Control
Standing-up control of Cheetah3 and impedance control of each leg indepdently.
GCWF
Verifying Contact Wrench Feasibility via Geometrical Approach
generalized_rbda
Library of rigid-body dynamics algorithms for systems with kinematic loops.
HS-DDP-MATLAB
Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped bounding with Model Hierarchy Predictive Control strategy, and a bouncing ball with elastic impact.
inertia_identification_minimal_examples
MHPC-HSDDP
MiniCheathModels
Kinematic tree, whole-body dynamics, SRB dynamics of MIT Mini Cheath, and generation of C++ interface
SlidingWindowGaitEstimation
spatial_v2_extended
Extended version of Featherstone's spatial_v2 package
Template-Model-Optimization
This repository houses the framework for optimizing template models to track CoM kinematics of steady state human walking.
Robotics, Optimization, and Assistive Mobility Lab @ Notre Dame's Repositories
ROAM-Lab-ND/spatial_v2_extended
Extended version of Featherstone's spatial_v2 package
ROAM-Lab-ND/generalized_rbda
Library of rigid-body dynamics algorithms for systems with kinematic loops.
ROAM-Lab-ND/CAFE-MPC
ROAM-Lab-ND/inertia_identification_minimal_examples
ROAM-Lab-ND/HS-DDP-MATLAB
Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped bounding with Model Hierarchy Predictive Control strategy, and a bouncing ball with elastic impact.
ROAM-Lab-ND/MHPC-HSDDP
ROAM-Lab-ND/Cheetah3-Impedance-Control
Standing-up control of Cheetah3 and impedance control of each leg indepdently.
ROAM-Lab-ND/GCWF
Verifying Contact Wrench Feasibility via Geometrical Approach
ROAM-Lab-ND/MiniCheathModels
Kinematic tree, whole-body dynamics, SRB dynamics of MIT Mini Cheath, and generation of C++ interface
ROAM-Lab-ND/SlidingWindowGaitEstimation
ROAM-Lab-ND/Template-Model-Optimization
This repository houses the framework for optimizing template models to track CoM kinematics of steady state human walking.