University of Michigan Dynamic Legged Locomotion Robotics Lab
- 195 followers
- Ann Arbor, MI 48109-2122
- https://www.youtube.com/user/DynamicLegLocomotion
- grizzle@umich.edu
Pinned
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 trajectories contain abrupt, incipient, and intermittent faults, while the hardware trajectories contain abrupt and incipient faults.
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- KinodynamicFabrics.jl Public Forked from adubredu/KinodynamicFabrics.jl
Julia implementation of the Kinodynamic Fabrics whole-body control framework
- Cassie_CFROST Public
- 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 via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Contro…
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- 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 Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…
- 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. The paper has been uploaded to arXiv at https://arxiv.org/abs/2205.14853
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