Discover ami-iit/matlab-whole-body-simulator Open Source project

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

124

adam

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

lie-group-controllers

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

matio-cpp

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

awesome-urdf

liecasadi

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

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

jaxsim

paper_romualdi_2022_icra_centroidal-mpc-walking

ICRA 2022 paper

Self-contained C++ interface for the MeshCat visualizer

meshcat-cpp

Visualizer to display the data logged with YarpRobotLoggerDevice

robot-log-visualizer

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

paper_lerario_2022_humanoids_planning-multimodal-locomotion

Import your robot in blender and animate it!

blend-my-bot

Repository for creating URDF models for human subjects

mvnx-to-urdf

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

paper_ramadoss_2021_icra_proprioceptive-base-estimator

The ultimate Python tool for RObot Descriptions processing.

rod

A Python-based Trajectory Optimization Framework

hippopt

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

paper_ramadoss-2022-iros-humanoid-base-estimation

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

reloc-cpp

kindyn-vio

Development on hold.

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

paper_nava_2023_icra_fault-control-ironcub

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

paper_bergonti_2022_tro_kinematics-control-morphingcovers

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

training-conda-robotics

gazebo-scenario-plugins

Ignition Gazebo plugins implemented with ScenarI/O

paper_viceconte_2021_ral_adherent

romualdi-2021-ral-soft_terrain_walking

idynfor

iDynFor

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

mystica

element_human-action-intention-recognition

Generic visualizer of robot models based on MeshCat

meshcat-viz-python

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

ironcub_software

Software tool for generating and scaling human models

human-model-generator

Repo for YARP and OpenMCT integration.

yarp-openmct

JavaScript

mann-pytorch

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

shinobi-robotics-research

dynamical-planner

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_pasandi_2023_icra-joint-limit-avoidance

paper_ramadoss_2022_humanoids_human-base-estimation

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

Dockerfile

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.

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

cmakip

paper_sartore_2022_humanoids_ergonomic_design

Humanoids 2022 Paper

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

resolve-robotics-uri-py

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.

paper_tirupachuri-2021-access-estimation_payload_stresses

kindynfusion

paper_dafarra_2022_tro_dcc-planner

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_surname_YEAR_journal_short-paper-name

paper_Mohamed_2023_humanoids_nonlinear-ft-calibration

Humanoids 2023 Paper

IEEE Humanoids 2017 workshop

ws_locomotion-manipulation

paper_sorrentino_2024_icra_robot-dynamics-estimation

paper_elobaid_2023_icra_walking_with_payloads

mujoco-simulink-blockset-cmake-buildsystem

Maximum A Posteriori estimation for human kinematics and dynamics.

MAPest

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

yarp-openvr-trackers

A CMake buildsystem for compiling scs library

scs-cmake-buildsystem

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

ami-commons

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.)

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_latella_2021_thms_overhead-exoskeleton-torque

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

paper_dafarra_2024_science-robotics_icub3-avatar-system

biomechanical-analysis-framework

yarp-device-openxrheadset

paper_darvish_2022_humanoids_action-kindyn-predicition

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

github-labels

cmake-package-check

Utility to check if a CMake package exists.

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

course_intro-nonlinear-control

log-installed-software

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

casadi-matlab-bindings

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

paper_pasandi_2022_tac_bounded-integrated-cpg

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