libchamp

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CHAMP's core libraries

Credits

Papers

• Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
• Control of Forward Velocity for a Simplified Planar Hopping Robot

Libraries

• BasicLinearAlgebra
• Geometry
• XML parser

Videos

• Inverse Kinematics

• Quadruped Robot High Level Concept