HuNingHe

funny_lidar_slam

A real-time multifunctional Lidar SLAM package.

Cassie_StateEstimation

Code for various extended Kalman filter state estimation methods for Cassie.

Cassie_Controller_AngularMomentum

cassie_alip_mpc

This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Control (MPC) foot placement planner and (2) a gait controller which takes the foot placement solution as an input. This controller enables improved stability for walking on a variety of sloped and textured terrains. The controller is implemented on the Agility Robotics Cassie Robot.

Motion-Matching

Learned Motion Matching example implementation and source code for the article "Code vs Data Driven Displacement"

do-mpc

Model predictive control python toolbox

Contact-Aided-Invariant-EKF

Example code for contact-aided invariant extended Kalman filtering.

madnlp_demo

psopt

PSOPT Optimal Control Software

ModelBasedFootstepPlanning-IROS2024

This repository is an open-sourced code for the IROS 2024 paper.

cerberus_anymal_locomotion

sel_map

Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation from RGB-D images.

GEM

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.

VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator

iPlanner

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach

livox_ros_driver2

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.

identifying_terrain_physical_parameters_webpage

https://leggedrobotics.github.io/identifying_terrain_physical_parameters_webpage/

grid_map

Universal grid map library for mobile robotic mapping

elevation_mapping_ros2

ElevationMapping-ROS2

rapid-locomotion-rl

Code for Rapid Locomotion via Reinforcement Learning

hunter_bipedal_control

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.

awesome-rl

Reinforcement learning resources curated

awesome-humanoid-learning

Humanoid Robots Resources

NMPC-DCLF-DCBF

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

ContactImplicitMPC.jl

Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.

TinyMPC-AL

Model-predictive control based on augmented Lagrangian

ALTRO

C++ implementation of ALTRO (Augmented Lagrangian TRajectory Optimizer)

TinyMPC

Model-predictive control for microcontrollers

l4casadi

Use PyTorch Models with CasADi for data-driven optimization or learning-based optimal control. Supports Acados.