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1. cassie_alip_mpc cassie_alip_mpc Public

   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 Vir…

   C 85 15

2. Digit_Fall_Prediction_Dataset Digit_Fall_Prediction_Dataset Public

   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 int…

   Jupyter Notebook 3

3. KinodynamicFabrics.jl KinodynamicFabrics.jl Public

   Forked from adubredu/KinodynamicFabrics.jl

   Julia implementation of the Kinodynamic Fabrics whole-body control framework

   Julia 3

4. CLF_reactive_planning_system CLF_reactive_planning_system Public

   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 syste…

   C++ 62 12

5. extrinsic_lidar_camera_calibration extrinsic_lidar_camera_calibration Public

   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 …

   MATLAB 376 70

6. LiDARTag LiDARTag Public

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

   C++ 262 54