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Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on an efficient Differential Dynamic Programming (DDP) algorithm. Crocoddyl computes optimal trajectories along to optimal feedback gains. It uses P
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Coordination project for the control of the balance of Talos.
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Wrapping the Stack-of-Stacks in roscontrol
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Set of robot URDFs for benchmarking and developed examples.
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This is an example project, to show how to use Gepetto's tools
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Biomechanic toolbox
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HQP for whole body motion generation
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This library contains scripts for working with OpenSim files and pinocchio software.
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HQP for whole body motion generation
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This library contains scripts for working with OpenSim files and pinocchio software.
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Biomechanic toolbox
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Collection of dynamic-graph entities aimed at implementing torque control on different robots. https://github.com/stack-of-tasks/sot-torque-control
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List of demonstrations. Will be used for examples & integration tests.