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acado

ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control, state and parameter estimation and robust optimization.

atlas_muj_nv

Atlas MuJoCo model

atlas_ros_version

Atlas ROS model

awesome-robotics-libraries

:sunglasses: A curated list of robotics libraries and software

awesome_quadrupedal_robots

Awesome Quadrupedal Robots

bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots

casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

cassie_cfrost

cassie_flatground_controller

cassie_jump_frost

cassie_robot_resources

list of papers, videos and codes about the bipedal robot Cassie developed by Agility Robotics

cerberus

Visual-Inertial-Leg Odometry For Legged Robots

cheetah-software

clf_reactive_planning_system

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 system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.

control-toolbox

The Control Toolbox - An Open-Source C++ Library for Robotics, Optimal and Model Predictive Control

ddynamic_reconfigure

digit_sim

Pybullet simulation package for Digit robot

drake

Model-based design and verification for robotics.

elevation_mapping_cupy

Elevation Mapping on GPU.

free_gait

An Architecture for the Versatile Control of Legged Robots

frost-dev

Fast Robot Optimization and Simulation Toolkit (FROST)

gitskills

horizon

an intuitive optimization tool tailored to robotics, based on CasADi

ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

ihmc-robotics

Work done in IHMC Robotics since Aug 2019

iris-distro

Iterative Regional Inflation by SDP

kino_dynamic_opt

Kino-dynamic optimization algorithm for multiped robots

klampt

Kris' Locomotion and Manipulation Planning Toolkit

learngit

lqr-tree