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crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

edge_extraction

Fast and robust algorithm to extract edges in unorganized point clouds

ekf_ahrs

It is a EKF implemention of ADIS16470 and RM3100

elevation_mapping

Robot-centric elevation mapping for rough terrain navigation

epro-pnp

[CVPR 2022 Oral, Best Student Paper] EPro-PnP: Generalized End-to-End Probabilistic Perspective-n-Points for Monocular Object Pose Estimation

gem

GEM: Online Globally consistent dense elevation mapping for unstructured terrain.

hpp-fcl

An extension of the Flexible Collision Library

hqp

a solver for sparse nonlinear optimization

ihmc-robotics

Work done in IHMC Robotics since Aug 2019

imucalibration-gesture

calibration for Imu and show gesture

joystick

A minimal C++ object-oriented API onto joystick devices under Linux

libcmaes

libcmaes is a multithreaded C++11 library with Python bindings for high performance blackbox stochastic optimization using the CMA-ES algorithm for Covariance Matrix Adaptation Evolution Strategy

linux

Linux kernel source tree

loco

Locomotion Controller Library for Legged Robots

meshcat

Remotely-controllable 3D viewer, built on top of three.js

mujoco

Multi-Joint dynamics with Contact. A general purpose physics simulator.

ocs2

Optimal Control for Switched Systems

oldx_fly_controller

多旋翼开源飞控 更新中 请Star支持一下

openpilot

openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 100 supported car makes and models.

osqp

The Operator Splitting QP Solver

parallel-ddp

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

plane_seg

Plane Segmentation Utilites

point-cloud-edge-and-corner-detection

pronto

Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages

pythonrobotics

Python sample codes for robotics algorithms.

qpth

A fast and differentiable QP solver for PyTorch.

quad-sdk

Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.

rbdl

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

ros-chomp

CHOMP path adaptor with ROS support. Part of CARGO-Ants project