Repositories list

• generalized_rbda

  Public
  Library of rigid-body dynamics algorithms for systems with kinematic loops.

  C++

  •

  MIT License

  •6•46•1•0•Updated Jan 17, 2026Jan 17, 2026

• inertia_identification_minimal_examples

  Public
  MATLAB

  •3•23•0•0•Updated Nov 26, 2025Nov 26, 2025

• roam_lib

  Public
  Miscellaneous MATLAB utilities

  MATLAB

  •0•0•0•0•Updated Nov 25, 2025Nov 25, 2025

• SlidingWindowGaitEstimation

  Public
  MATLAB

  •

  MIT License

  •0•0•0•0•Updated Jul 29, 2025Jul 29, 2025

• spatial_v2_extended

  Public
  Extended version of Featherstone's spatial_v2 package

  MATLAB

  •32•68•1•1•Updated Mar 24, 2025Mar 24, 2025

• CAFE-MPC

  Public
  C++

  •

  MIT License

  •8•55•0•0•Updated Oct 26, 2024Oct 26, 2024

• Template-Model-Optimization

  Public
  This repository houses the framework for optimizing template models to track CoM kinematics of steady state human walking.

  MATLAB

  •1•1•0•0•Updated Aug 15, 2024Aug 15, 2024

• MiniCheathModels

  Public
  Kinematic tree, whole-body dynamics, SRB dynamics of MIT Mini Cheath, and generation of C++ interface

  C++

  •3•2•0•0•Updated Apr 15, 2024Apr 15, 2024

• HS-DDP-MATLAB

  Public
  Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped bounding with Model Hierarchy Predictive Control strategy, and a bouncing ball with elastic impact.

  MATLAB

  •

  MIT License

  •4•14•0•0•Updated Jun 23, 2023Jun 23, 2023

• GCWF

  Public
  Verifying Contact Wrench Feasibility via Geometrical Approach

  C++

  •0•1•0•0•Updated Jan 25, 2023Jan 25, 2023

• MHPC-HSDDP

  Public
  MATLAB

  •

  MIT License

  •2•7•0•0•Updated Sep 9, 2021Sep 9, 2021

• Cheetah3-Impedance-Control

  Public
  Standing-up control of Cheetah3 and impedance control of each leg indepdently.

  C

  •0•2•0•0•Updated Apr 14, 2021Apr 14, 2021