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.

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adam

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

122

jaxsim

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

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

liecasadi

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

awesome-urdf

paper_romualdi_2022_icra_centroidal-mpc-walking

ICRA 2022 paper

Self-contained C++ interface for the MeshCat visualizer

meshcat-cpp

Import your robot in blender and animate it!

blend-my-bot

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

A Python-based Trajectory Optimization Framework

hippopt

The ultimate Python tool for RObot Descriptions processing.

rod

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

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

kindyn-vio

Development on hold.

[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

paper_sorrentino_2024_icra_robot-dynamics-estimation

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

human-model-generator

Python-based tool to generate anthropometric human whole-body models in a URDF format

Ignition Gazebo plugins implemented with ScenarI/O

gazebo-scenario-plugins

paper_viceconte_2021_ral_adherent

romualdi-2021-ral-soft_terrain_walking

idynfor

iDynFor

element_human-action-intention-recognition

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

mystica

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

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

paper_ramadoss_2022_humanoids_human-base-estimation

Dockerfile

yarp-openmct

Repo for YARP and OpenMCT integration.

JavaScript

mann-pytorch

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

shinobi-robotics-research

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

paper_rapetti_2023_icra_ergonomic_payload_lifting

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

cmakip

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

xcub-sensors-check

paper_sartore_2022_humanoids_ergonomic_design

Humanoids 2022 Paper

paper_elobaid_2023_icra_walking_with_payloads

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

resolve-robotics-uri-py

paper_Mohamed_2023_humanoids_nonlinear-ft-calibration

Humanoids 2023 Paper

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_cardenas_2024_ral_xbg

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

Friendly mantainance fork of odio-urdf .

amo_urdf

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.)

IEEE Humanoids 2017 workshop

ws_locomotion-manipulation

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

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

github-labels

paper_darvish_2022_humanoids_action-kindyn-predicition

Utility to check if a CMake package exists.

course_intro-nonlinear-control

cmake-package-check

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

paper_romualdi_viceconte_2024_humanoids_dnn-mpc-walking

log-installed-software

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

xbg

HTML

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

shared-controllers

Repository containing the implementation of yarp devices for various haptic gloves

yarp-device-haptic-gloves