stephane-caron/multi-contact-zmp

This repository has been archived on 09/Nov/2022
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Python
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GNU General Publi...
Created about 8 years ago
Updated about 6 years ago

stephane-caron/multi-contact-zmp

stephane-caron

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ZMP support areas for multi-contact stability under frictional contacts

pink

Python inverse kinematics based on Pinocchio

lipm_walking_controller

Walking controller for humanoid robots based on inverted pendulum tracking

pymanoid

Humanoid robotics prototyping environment based on OpenRAVE

pypoman

Python module for polyhedral geometry

qpmpc

Model predictive control in Python based on quadratic programming

lpsolvers

Linear programming solvers in Python with a unified API

smart-grid-scheduling

Energy-consumption scheduling algorithms for smart electrical grids

analytical-wrench-cone

Analytical formula of the wrench friction cone for surface contacts

fip-walkgen

3D walking pattern generation by NMPC of the floating-base pendulum model

loop-rate-limiters

Simple loop rate limiters in Python

palimpsest

Fast serializable C++ dictionaries

capture-walkgen

Capturability-based walking pattern generation over uneven terrains

capture_walking_controller

Capturability-based controller for walking with variable-height

pyfme

Symbolic (analytical) polyhedron projection by Fourier-Motzkin elimination using SymPy

meshcat-shapes

Useful shapes to decorate MeshCat scenes

topp-mpc

Model Predictive Control with automatic timings based on Time-Optimal Path Parameterization (TOPP)

motion-planning

Course on motion planning

vhip_walking_controller

Walking controller based on variable-height inverted pendulum tracking

vhip-balance

Balancing a variable-height inverted pendulum

mpacklog

Log dictionaries to MessagePack files in C++ and Python

openrave_models

Robot models for OpenRAVE

aiorate

Loop frequency regulation for asyncio

bazel_pinocchio

Bazel repository rules to build Pinocchio targets

mc-lmpc-walkgen

Multi-contact walking pattern generation over rough terrains by linearized MPC

foxplot

Plot time-series data from line-delimited JSON.

avp-rrt

Kinodynamic planning in the configuration space by Admissible Velocity Propagation

quasistatic-stair-climbing

Quasi-static stair climbing with the HRP-4 humanoid robot

manipulation_markers

ROS package used in the GUI of Team Hydra while preparing for the DARPA Robotics Challenge