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This repository contains a stabilizer for Biped Locomotion.

adaptation for rigid control on flexible devices

Diades is a collection of academic tools that deal with the problem of discrete event systems.

Source code of the Finite State Machine library (ddautomata). Used as a submodule

ROS wrapper around the https://github.com/qualisys/qualisys_cpp_sdk package

package for the simulation of the Ouster OS1-64 with ros and gazebo.

Differential Dynamic Programming Solver

Coordination project for the control of the balance of Talos.

Collection of dynamic-graph entities aimed at implementing torque control on different robots. https://github.com/stack-of-tasks/sot-torque-control

Torque control for TALOS

Stack of tasks for Tiago

TALOS device to get the Stack-Of-Tasks in TALOS.

Minimal project using Pinocchio as Rigid Body Dynamics library