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    26 repositories

    • double_pendulum

      Public
      Dual purpose Acrobot and Pendubot Platform
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •22•34•2•2•Updated Oct 8, 2024Oct 8, 2024

    • dfki-quad

      Public
      This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller using MPC, WBC and different Gait Sequencers and hardware drivers to be used with different quadrupeds.
      controlquadruped
      C++
      •
      Other
      •0•6•1•0•Updated Sep 24, 2024Sep 24, 2024

    • hopping_leg

      Public
      3 DOF Hopping Leg with 2 Actuators and 1 Passive DOF
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Sep 13, 2024Sep 13, 2024

    • real_ai_gym_leaderboard

      Public
      repository that renders leaderboards for the real-ai-gym.
      JavaScript
      •1•0•0•0•Updated Sep 13, 2024Sep 13, 2024

    • mppc

      Public
      Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•15•0•0•Updated Sep 11, 2024Sep 11, 2024

    • robust_codesign

      Public
      Robust Co-design of Canonical Underactuated Systems for Increased Certifiable Stability
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•4•0•0•Updated Aug 10, 2024Aug 10, 2024

    • 6rus_cosserat_kinetostatics

      Public
      Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory
      Python
      •1•2•0•0•Updated Aug 5, 2024Aug 5, 2024

    • auv_control_indi

      Public
      Control of Large Intervention AUV using Incremental Non-Linear Dynamic Inversion
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•3•0•0•Updated Jul 31, 2024Jul 31, 2024

    • torque_limited_simple_pendulum

      Public
      Torque Limited Simple Pendulum Underactuated System
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •19•54•0•0•Updated Jul 2, 2024Jul 2, 2024

    • BeltManipulator

      Public
      Julia
      •0•1•0•0•Updated Jun 30, 2024Jun 30, 2024

    • mimpc

      Public
      Mixed-Integer MPC library. Was successfully demonstrated on a free-floating platform with binary thrusters (under timing constraints) and a reaction wheel.
      librarycontrolsimulationmpcmixed-integer-optimization
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •0•6•0•0•Updated Jun 12, 2024Jun 12, 2024

    • skidy

      Public
      Symbolic Kinematics and Dynamics for Low Dimensional Multi-Body Systems
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•3•1•0•Updated Jun 11, 2024Jun 11, 2024

    • ricmonk

      Public
      RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•4•0•0•Updated Apr 1, 2024Apr 1, 2024

    • orthant_rewards_biped_rl

      Public
      Deriving Rewards for Reinforcement Learning from Symbolic Behavior Descriptions of Bipedal Walking
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Jan 22, 2024Jan 22, 2024

    • humanoids23_rh5_walk

      Public
      Humanoids 2023: Dynamic Walking with RH5 Humanoid
      1•0•0•0•Updated Dec 6, 2023Dec 6, 2023

    • summer_of_underactuation_2023

      Public
      Summer of Underactuation 2023 Event Webpage
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Nov 10, 2023Nov 10, 2023

    • design_controller_cooptimization_acrobot

      Public
      Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •1•7•0•0•Updated Sep 4, 2023Sep 4, 2023

    • acromonk

      Public
      AcroMonk: A Minimalist Underactuated Brachiating Robot
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •4•46•0•0•Updated Aug 25, 2023Aug 25, 2023

    • case_study_traj_opt_hybrid_robots

      Public
      Repository accompanying our paper titled "Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization"
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Jul 31, 2023Jul 31, 2023

    • mini-cheetah-tmotor-python-can

      Public
      Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface
      roboticspython
      Python
      •
      BSD 3-Clause "New" or "Revised" License
      •16•32•0•0•Updated Jun 28, 2023Jun 28, 2023

    • real-ai-gym

      Public
      The Real AI Gym.
      MIT License
      •0•4•0•0•Updated May 19, 2023May 19, 2023

    • robot_dance_generation

      Public
      Robot Dance Generation with Music Based Trajectory Optimization
      BSD 3-Clause "New" or "Revised" License
      •0•9•0•0•Updated Jan 25, 2023Jan 25, 2023

    • mini-cheetah-tmotor-can

      Public
      C++ Drivers for MIT Mini-Cheetah Type Actuators from T-Motors
      C++
      •7•8•2•0•Updated Jan 16, 2023Jan 16, 2023

    • analytic_roa_lqr_pendulum

      Public
      Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
      HTML
      •
      BSD 3-Clause "New" or "Revised" License
      •0•0•0•0•Updated Jan 13, 2023Jan 13, 2023

    • hybrid_numerical_analytical_approach_case_study

      Public
      Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots
      BSD 3-Clause "New" or "Revised" License
      •1•1•0•0•Updated Jan 5, 2023Jan 5, 2023

    • summer_of_underactuation_2022

      Public
      Summer of Underactuation 2022 Event Webpage
      0•2•0•0•Updated Aug 2, 2022Aug 2, 2022