zhicheng.he's repositories
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-external-examples
Examples of how to use Drake in your own project.
slip_control
Spring Loaded Inverted Pendulum control and visualization python tools
Scott-Kuindersma-mentioned-papers
Scott Kuindersma在讲述Atlas控制技术时提到的部分论文
SOEM
Simple Open Source EtherCAT Master
MIT-Cheetah-Note
MIT Cheetah仿真平台源码笔记以及一部分第三方组件
mini-cheetah-pybullet
mpc and wbc for mini cheetah in pybullet
Tasks
The Tasks library is designed to make real-time control for kinematics tree and list of kinematics tree.
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
SpaceVecAlg
Implementation of spatial vector algebra with the Eigen3 linear algebra library.
eigen-qld
eigen-qld allow to use the QLD QP solver with the Eigen3 library.
lipm_walking_controller
Walking controller based on linear inverted pendulum tracking
Contact-Aided-Invariant-EKF
Example code for contact-aided invariant extended Kalman filtering.
drake
A planning, control, and analysis toolbox for nonlinear dynamical systems. More info at
ORB_SLAM2
Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities