UMich-BipedLab/Cassie_StateEstimation

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UMich-BipedLab/Cassie_StateEstimation

UMich-BipedLab

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

extrinsic_lidar_camera_calibration

This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

LiDARTag

This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

Cassie_FlatGround_Controller

Cassie_Model

Repo containing the urdf and frost based models of Cassie

Contact-Aided-Invariant-EKF

Example code for contact-aided invariant extended Kalman filtering.

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.

CLF_reactive_planning_system

This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.

SegmentationMapping

Cassie_Controller_AngularMomentum

LiDAR_intrinsic_calibration

C-Frost

cassie_description

UDRF model of CASSIE robot

IMOMD-RRTStar

This work proposes an anytime iterative system to concurrently solve the multi-objective path planning problem and determine the visiting order of destinations. The paper has been uploaded to arXiv at https://arxiv.org/abs/2205.14853

Cassie_CFROST

automatic_lidar_camera_calibration

lidar_simulator

multi_object_avoidance_via_clf_cbf

global_pose_estimation_for_optimal_shape

This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed 30 meters away!

sync_lidartag_apriltag

digit_jsonapi_catkin_ws

matlab_utils

docker_images

AprilTag_ROS

torso_design_for_cassie

ROB101-ExtrinsicCalibrationProblem

Digit_Fall_Prediction_Dataset

This dataset is comprised of simulation and hardware trajectories with various faults for the Digit robot during the task of standing. The simulation trajectories contain abrupt, incipient, and intermittent faults, while the hardware trajectories contain abrupt and incipient faults. A tutorial of the dataset can be found in the viz branch.

Jupyter Notebook

planner_msgs

inekf_msgs

outdoor_cvo

optimal_shape_generation

This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed 30 meters away!

digit_msgs

Custom ROS messages for digit