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@UMich-BipedLab

University of Michigan Dynamic Legged Locomotion Robotics Lab

We do feedback control of bipedal robots and we do it better than anyone else.

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  1. cassie_alip_mpc cassie_alip_mpc Public

    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 Vir…

    C 81 15

  2. Digit_Fall_Prediction_Dataset Digit_Fall_Prediction_Dataset Public

    This dataset is comprised of simulation and hardware trajectories with various faults for the Digit robot during the task of standing. The simulation trajectories contain abrupt, incipient, and int…

    Jupyter Notebook 3

  3. KinodynamicFabrics.jl KinodynamicFabrics.jl Public

    Forked from adubredu/KinodynamicFabrics.jl

    Julia implementation of the Kinodynamic Fabrics whole-body control framework

    Julia 3

  4. CLF_reactive_planning_system CLF_reactive_planning_system Public

    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 syste…

    C++ 56 12

  5. extrinsic_lidar_camera_calibration extrinsic_lidar_camera_calibration Public

    This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's …

    MATLAB 365 70

  6. LiDARTag LiDARTag Public

    This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

    C++ 257 50

Repositories

Showing 10 of 53 repositories
  • Digit_Fall_Prediction_Dataset Public

    This dataset is comprised of simulation and hardware trajectories with various faults for the Digit robot during the task of standing. The simulation trajectories contain abrupt, incipient, and intermittent faults, while the hardware trajectories contain abrupt and incipient faults. A tutorial of the dataset can be found in the viz branch.

    UMich-BipedLab/Digit_Fall_Prediction_Dataset’s past year of commit activity
    Jupyter Notebook 3 AGPL-3.0 0 0 0 Updated Jun 12, 2024
  • digit_msgs Public

    Custom ROS messages for digit

    UMich-BipedLab/digit_msgs’s past year of commit activity
    CMake 1 0 0 0 Updated Dec 23, 2023
  • KinodynamicFabrics.jl Public Forked from adubredu/KinodynamicFabrics.jl

    Julia implementation of the Kinodynamic Fabrics whole-body control framework

    UMich-BipedLab/KinodynamicFabrics.jl’s past year of commit activity
    Julia 0 MIT 9 0 0 Updated Jul 19, 2023
  • Cassie_CFROST Public
    UMich-BipedLab/Cassie_CFROST’s past year of commit activity
    MATLAB 30 BSD-3-Clause 13 4 0 Updated Jun 17, 2023
  • LiDARTag Public

    This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

    UMich-BipedLab/LiDARTag’s past year of commit activity
    C++ 257 AGPL-3.0 50 4 1 Updated Jun 1, 2023
  • cassie_alip_mpc Public

    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 Contro…

    UMich-BipedLab/cassie_alip_mpc’s past year of commit activity
    C 81 AGPL-3.0 15 0 0 Updated Mar 27, 2023
  • multi_object_avoidance_via_clf_cbf Public
    UMich-BipedLab/multi_object_avoidance_via_clf_cbf’s past year of commit activity
    C++ 15 AGPL-3.0 4 0 0 Updated Feb 14, 2023
  • CLF_reactive_planning_system Public

    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 co…

    UMich-BipedLab/CLF_reactive_planning_system’s past year of commit activity
    C++ 56 AGPL-3.0 12 4 0 Updated Aug 16, 2022
  • IMOMD-RRTStar Public

    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 https://arxiv.org/abs/2205.14853

    UMich-BipedLab/IMOMD-RRTStar’s past year of commit activity
    C++ 34 AGPL-3.0 4 0 0 Updated May 31, 2022
  • Cassie_Controller_AngularMomentum Public
    UMich-BipedLab/Cassie_Controller_AngularMomentum’s past year of commit activity
    C++ 44 16 1 0 Updated May 14, 2022
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