Motion planning & control

Open source

Python toolkit for robot learning from demonstration and manipulation.

Open source

Generic robotic controllers to accompany ros2_control

Open source

Walking Pattern Generator (= Walking Controller) using ROS2 for Humanoid Robots

Research

Quadrotor control framework developed by the Robotics and Perception Group

Research

ROS and OpenRTM controller software for the Nextage dual-arm robot.

Research

C++ framework for evolutionary computation, including evolutionary-robotics research.

Open source

My take on the quadruped Spot Micro robot. Its built around an ESP32 cam microcontroller and utilizes a svelte app to control it

Open source

Analytical inverse-kinematics solver for six- and seven-axis revolute robot arms.

Open source

Symbolic computation, code generation, and nonlinear optimization for robotics.

Research

Motion-planning infrastructure for industrial robot applications.

Open source

Time-optimal path parameterization library for robotic motion planning.

Open source

Julia library for trajectory optimization.

Open source

Python inverse-kinematics tools for hybrid serial-parallel robots.

Research

This is a project about robotic manipulation motion planning using deep reinforcement learning based on ROS and Gazebo simulation

Open source

Historical reference: (deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots

Open source

Research implementation of visual embodied reasoning and control with multimodal models.

Open source

Variational neural-belief research for dexterous grasping.

Open source

Bipedal locomotion software for the humanoid robot platform iCub.

Open source

Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control

Research

An electronic speed-controller design for sensored BLDC motors.

Open source

Motion planning and manipulation tools for robots.