University of Michigan Dynamic Legged Locomotion Robotics Lab

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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 trajectori…
Jupyter Notebook
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GNU Affero General Public License v3.0
•0•3•0•0•Updated Jun 12, 2024Jun 12, 2024
digit_msgs
Public
Custom ROS messages for digit
CMake
•0•1•0•0•Updated Dec 23, 2023Dec 23, 2023
KinodynamicFabrics.jl
Public
Julia implementation of the Kinodynamic Fabrics whole-body control framework
Julia
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MIT License
•8•0•0•0•Updated Jul 19, 2023Jul 19, 2023
Cassie_CFROST
Public
MATLAB
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BSD 3-Clause "New" or "Revised" License
•13•31•4•0•Updated Jun 17, 2023Jun 17, 2023
LiDARTag
Public
This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds
robotics tags detection calibration lidar markers point-clouds fiducial-markers cassie extrinsic-calibration
C++
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GNU Affero General Public License v3.0
•54•278•5•1•Updated Jun 1, 2023Jun 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…
C
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GNU Affero General Public License v3.0
•15•92•0•0•Updated Mar 27, 2023Mar 27, 2023
multi_object_avoidance_via_clf_cbf
Public
C++
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GNU Affero General Public License v3.0
•4•25•0•0•Updated Feb 14, 2023Feb 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…
robot robotics navigation terrain pathfinding motion-planning rrt path-planning pathfinder rrt-star
C++
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GNU Affero General Public License v3.0
•13•63•4•0•Updated Aug 16, 2022Aug 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.…
robot robotics navigation motion-planning path-planning ros a-star tsp cassie tsp-solver
C++
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GNU Affero General Public License v3.0
•5•39•0•0•Updated May 31, 2022May 31, 2022
Cassie_Controller_AngularMomentum
Public
C++
•15•46•1•0•Updated May 14, 2022May 14, 2022
matlab_utils
Public
MATLAB
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GNU Affero General Public License v3.0
•3•3•0•0•Updated May 13, 2022May 13, 2022
planner_msgs
Public
Shell
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Other
•1•1•0•0•Updated May 4, 2022May 4, 2022
SegmentationMapping
Public
C++
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MIT License
•22•57•2•0•Updated Dec 19, 2021Dec 19, 2021
docker_images
Public archive
Dockerfile
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MIT License
•8•2•0•0•Updated Nov 18, 2021Nov 18, 2021
ROB101-ExtrinsicCalibrationProblem
Public
MATLAB
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Other
•0•2•0•0•Updated Nov 17, 2021Nov 17, 2021
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. Th…
robotics camera-calibration point-cloud calibration lidar camera-image transformation sensor-fusion cassie 3d-lidar
MATLAB
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GNU Affero General Public License v3.0
•67•383•4•0•Updated Oct 21, 2021Oct 21, 2021
global_pose_estimation_for_optimal_shape
Public
This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results…
camera robotics detection target optimal lidar markers point-clouds fiducial-markers cassie
MATLAB
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GNU Affero General Public License v3.0
•3•11•0•0•Updated Sep 6, 2021Sep 6, 2021
optimal_shape_generation
Public
This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results…
camera robotics detection target optimal lidar markers point-clouds fiducial-markers cassie
MATLAB
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GNU Affero General Public License v3.0
•1•2•0•0•Updated Sep 6, 2021Sep 6, 2021
LiDAR_intrinsic_calibration
Public
MATLAB
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GNU Affero General Public License v3.0
•13•46•1•0•Updated Aug 30, 2021Aug 30, 2021
torso_design_for_cassie
Public
robotics perception cassie torso
GNU Affero General Public License v3.0
•2•3•0•0•Updated Aug 23, 2021Aug 23, 2021
digit_jsonapi_catkin_ws
Public
Python
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GNU Affero General Public License v3.0
•1•3•0•0•Updated Jul 26, 2021Jul 26, 2021
inekf_msgs
Public
CMake
•1•1•0•0•Updated Jun 2, 2021Jun 2, 2021
customized_grid_map
Public
C++
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BSD 3-Clause "New" or "Revised" License
•0•0•0•0•Updated Apr 10, 2021Apr 10, 2021
outdoor_cvo
Public
C++
•1•1•0•0•Updated Apr 8, 2021Apr 8, 2021
global_sim3_solver
Public
MATLAB
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GNU Affero General Public License v3.0
•1•0•0•0•Updated Apr 2, 2021Apr 2, 2021
AprilTag_ROS
Public
C
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GNU Affero General Public License v3.0
•0•3•2•0•Updated Dec 18, 2020Dec 18, 2020
sync_lidartag_apriltag
Public
C++
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GNU Affero General Public License v3.0
•2•8•0•0•Updated Dec 18, 2020Dec 18, 2020
automatic_lidar_camera_calibration
Public
MATLAB
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GNU Affero General Public License v3.0
•10•27•0•0•Updated Dec 18, 2020Dec 18, 2020
lidar_simulator
Public
MATLAB
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GNU Affero General Public License v3.0
•9•17•0•0•Updated Jul 29, 2020Jul 29, 2020
AprilTag_msgs
Public
CMake
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GNU Affero General Public License v3.0
•0•0•0•0•Updated Apr 10, 2020Apr 10, 2020