Explore @ami-iit Open Source projects

Dynamic Interaction Control (@ami-iit)

ami-iit

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Registered about 7 years ago
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Python
35.1 %

MATLAB
28.1 %

C++
24.6 %

CMake 8.8 %

JavaScript
1.8 %

Dockerfile
1.8 %
Location 🇮🇹 Italy
Country Total Rank 517
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CMake 3

MATLAB
4

C++
63

Dockerfile
120

Python
130

JavaScript
1,660

bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

adam

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

lie-group-controllers

Header-only C++ library containing controllers designed for Lie Groups.

matio-cpp

A C++ wrapper of the matio library, with memory ownership handling, to read and write .mat files.

awesome-urdf

A curated list of Unified Robot Description Format (URDF) libraries, tools and resources.

liecasadi

Rigid transform using Lie groups and Dual Quaternions, written in CasADi!

jaxsim

A differentiable physics engine and multibody dynamics library for control and robot learning.

paper_romualdi_2022_icra_centroidal-mpc-walking

ICRA 2022 paper

matlab-whole-body-simulator

A robot simulator running on simulink

meshcat-cpp

Self-contained C++ interface for the MeshCat visualizer

robot-log-visualizer

Visualizer to display the data logged with YarpRobotLoggerDevice

paper_lerario_2022_humanoids_planning-multimodal-locomotion

Repository associated with the paper "Whole-Body Trajectory Optimization for Robot Multimodal Locomotion".

blend-my-bot

Import your robot in blender and animate it!

mvnx-to-urdf

Repository for creating URDF models for human subjects

paper_ramadoss_2021_icra_proprioceptive-base-estimator

[ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914

rod

The ultimate Python tool for RObot Descriptions processing.

hippopt

A Python-based Trajectory Optimization Framework

paper_ramadoss-2022-iros-humanoid-base-estimation

[IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275

reloc-cpp

Cross-platform CMake/C++ library to get the installation prefix of shared library in a relocatable way.

kindyn-vio

Development on hold.

paper_nava_2023_icra_fault-control-ironcub

Repository associated with the paper "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot", published in IEEE ICRA 2023.

paper_bergonti_2022_tro_kinematics-control-morphingcovers

Supplementary Material "Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots" published in IEEE Transactions on Robotics 2022

training-conda-robotics

A repo containing training material related to the use of Conda in robotics context.

gazebo-scenario-plugins

Ignition Gazebo plugins implemented with ScenarI/O

paper_viceconte_2021_ral_adherent

romualdi-2021-ral-soft_terrain_walking

idynfor

mystica

mystica is a Matlab library for simulating multi-body robots relying on a maximal coordinate approach

element_human-action-intention-recognition

meshcat-viz-python

Generic visualizer of robot models based on MeshCat

ironcub_software

In this repository we share software for dynamics simulations of the jet-powered humanoid robot iRonCub.

human-model-generator

Software tool for generating and scaling human models

yarp-openmct

Repo for YARP and OpenMCT integration.

mann-pytorch

shinobi-robotics-research

Files and documentation on how to use the Shinobi Open-Source Video Management Software for Robotics Research.

dynamical-planner

paper_pasandi_2023_icra-joint-limit-avoidance

Repository associated with the paper "Torque Control with Joints Position and Velocity Limits Avoidance" published in 2023 International Conference on Robotics and Automation (ICRA)

paper_ramadoss_2022_humanoids_human-base-estimation

[Humanoids 2022] https://ieeexplore.ieee.org/abstract/document/10000199

paper_rapetti_2023_icra_ergonomic_payload_lifting

Repository associated with the paper "A Control Approach for Human-Robot Ergonomic Payload Lifting", published in IEEE ICRA 2023.

cmakip

CLI tool for one-line installation of C++/CMake projects.

paper_sartore_2022_humanoids_ergonomic_design

Humanoids 2022 Paper

resolve-robotics-uri-py

Resolve a package:// or model:// URI to an absolute filename in Python.

paper_tirupachuri-2021-access-estimation_payload_stresses

Improving the quality of work for human beings is receiving a lot of attention from multiple research communities. This paper focuses on the open problem of estimating the interaction wrench experienced at the human extremities (such as hands), where the feasibility of direct sensor measurements is not practical.

kindynfusion

paper_dafarra_2022_tro_dcc-planner

paper_surname_YEAR_journal_short-paper-name

Example repo for code and LaTeX source for a scientific paper published in the Artificial Mechanical Intelligence research line at Italian Institute of Technology.

paper_Mohamed_2023_humanoids_nonlinear-ft-calibration

Humanoids 2023 Paper

ws_locomotion-manipulation

IEEE Humanoids 2017 workshop

paper_sorrentino_2024_icra_robot-dynamics-estimation

paper_elobaid_2023_icra_walking_with_payloads

mujoco-simulink-blockset-cmake-buildsystem

MAPest

Maximum A Posteriori estimation for human kinematics and dynamics.

yarp-openvr-trackers

This repo contains an application to stream VIVE trackers pose in yarp using OpenVR

scs-cmake-buildsystem

A CMake buildsystem for compiling scs library

ami-commons

In this repository we store tools and utilities shared between our repositories.

paper_belli_2023_sensors_insole-calibration

Code and material associated to "Modeling and Calibration of Pressure-Sensing Insoles via a New Plenum-Based Chamber" (Belli et al.)

paper_latella_2021_thms_overhead-exoskeleton-torque

Analysis of the human whole-body kinematics and dynamics during the execution of a typical overhead task to quantify the assistive support given by the exoskeleton.

paper_dafarra_2024_science-robotics_icub3-avatar-system

Repository associated with the paper "iCub3 Avatar System" published on Science Robotics (DOI 10.1126/scirobotics.adh3834)

biomechanical-analysis-framework

yarp-device-openxrheadset

paper_darvish_2022_humanoids_action-kindyn-predicition

github-labels

The repo contains the all the GitHub issue labels we use within our organisation

cmake-package-check

Utility to check if a CMake package exists.

course_intro-nonlinear-control

log-installed-software

Script to easily save the version of the software packages installed on a system.

casadi-matlab-bindings

Repo to build the CasADi MATLAB bindings as a standalone project, against an already compiled CasADi library.

paper_pasandi_2022_tac_bounded-integrated-cpg

Repository associated with the paper "An Integrated Programmable CPG with Bounded Output" published in Transactions on Automatic Control, 2022

paper_latella_2023_irim_muscle-force-estimation

Real-time force estimation for the lower leg muscles using a Hill-type model and a distributed network of wearable sensors