grantgib Goto Github PK
Name: Grant Gibson
Type: User
Company: https://www.biped.solutions/
Grant Gibson's Projects
acrobot_controllers
Pinned & Walking Controllers for the Two-Link Acrobot
alip_controllers
Linear Inverted Pendulum mode simulations
cartpole_mpc
Set-point and Trajectory Tracking MPC Controllers for the Cartpole System
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.
cddlib
An efficient implementation of the Double Description Method
digit_ros2
ROS2 workspace for controlling Digit via Agility Robotics JSON API Commands
five-link_alip_mpc
MPC controller for Rabbit 5-Link Biped Walker
five-link_nmpc_stair_climbing
Input-Output Linearization Based Nonlinear Model Predictive Control for Planar Five Link Robot Climbing Stairs
frost-dev
Fast Robot Optimization and Simulation Toolkit (FROST)
kindr
Kinematics and Dynamics for Robotics
kinodynamicfabrics.jl
Julia implementation of the Kinodynamic Fabrics whole-body control framework
pypoman
Python module for polyhedral geometry
rob101_segwaympcproject
MPC Project Code for ROB 101 Course
three-link_hzd
Hybrid Zero Dynamics Gait Design and Simulation for Three-Link Walker
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