This project features an open-source small bipedal robot designed for research, education, and hobbyist experimentation.

unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym

Course notes for MIT manipulation class

This is the full analysis of the forward, inverse kinematics, trajectory planning, path planning, and controlling the end effector.

RPDC : This contains all my MATLAB codes for the Robotics, Planning, Dynamics and Control . The implementations model various kinds of manipulators and mobile robots for position control, trajector…

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced r…

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).

Force control of UR10e in gazebo based on Modern Robotics

DART: Dynamic Animation and Robotics Toolkit

This Repository is the complete workspace of a project that realizes force-controlled object manipulation with a dual-arm-robot (UR5 and UR10)

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

Smooth trajectory interpolation by polynomial methods.

Representation-Free Model Predictive Control for Dynamic Quadruped

learnOptimWBC is a Matlab framework to study the combination of learning and multi-task prioritized control for redundant robots.

Robot models, featherstone Dynamics, WBC optimization

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…

climbing simulator written in Matlab

Local Navigation Planner for Legged Robots

Graph-based Exploration Planner for Subterranean Environments

Example files for MATLAB and Simulink Robotics Arena walking robot videos.

Mobile Robotics has been evolving as one of the most promising domains in the field of Robotics. The ability of these robots to explore and maneuver in complex environments without human interventi…

Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effect…

Optimal Control for Switched Systems

Group/personnal repository for the second project of the EPFL Legged robots (MICRO-507) course.

Everything about note management. All in Zotero.

NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls