Pinned Repositories
bullet3
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
Cheetah-Software
Cheetah-Software-He
Cheetah-Software-He
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
Model-based design and verification for robotics.
gcs
HKD-MPC
A nonlinear MPC framework for agile and versatile quadruped locomotion
HS-DDP-CPP
HybridSystemDDP
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.
Multiple-Shooting-DDP
Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.
heli-sudoo's Repositories
heli-sudoo/HKD-MPC
A nonlinear MPC framework for agile and versatile quadruped locomotion
heli-sudoo/HS-DDP-CPP
heli-sudoo/Multiple-Shooting-DDP
Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.
heli-sudoo/Cheetah-Software-He
Cheetah-Software-He
heli-sudoo/bullet3
Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
heli-sudoo/Cheetah-Software
heli-sudoo/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
heli-sudoo/drake
Model-based design and verification for robotics.
heli-sudoo/gcs
heli-sudoo/HybridSystemDDP
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.
heli-sudoo/MiniCheathModels
Kinematic tree, whole-body dynamics, SRB dynamics of MIT Mini Cheath, and generation of C++ interface
heli-sudoo/motion_imitation
Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"
heli-sudoo/qpOASES_Benchmark
heli-sudoo/rbdl
RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.
heli-sudoo/signal-scope
A live plotting tool for LCM message fields.
heli-sudoo/towr
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.