University of Michigan Dynamic Legged Locomotion Robotics Lab
University of Michigan Dynamic Legged Locomotion Robotics Lab
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 c...
Contact-Aided-Invariant-EKF
Example code for contact-aided invariant extended Kalman filtering.
IMOMD-RRTStar
This work proposes an anytime iterative system to concurrently solve the multi-objective path planning problem and determine the visiting order of destinations. The paper has been uploaded to arXiv at...
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 Virtua...