The whole collection of codes to control, inspect, pre- and post-processing data for iiwa14 control

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

Application for KUKA robot, a subdirectory of Explicit-FRI

MATLAB Robotics Examples

A one-to-one Comparison between Dynamic Movement Primitives (DMP) and Elementary Dynamic Actions (EDA)

Model-based design and verification for robotics.

FRI KUKA Library with Explicit-cpp

Repository containing the code to non-linear dynamical system higher dimension space deformation.

Viability in state-action space

MATLAB Files for Dynamic Movement Primitives (DMP)

Kalman Filter book using Jupyter Notebook. Focuses on building intuition and experience, not formal proofs. Includes Kalman filters,extended Kalman filters, unscented Kalman filters, particle filte…

Cartesian Impedance Control, based on Elastic Potentials

Simple area to test out concepts or try to reproduce isolated issues in Drake.

First steps with Google Mediapipe in C++: An Informal tutorial

Explicit written in C++

Kernelized Movement Primitives (KMP)

Implement well-known NLP models from scratch with high-level APIs.

Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code…

MATLAB-based robotic simulator based on differential geometry.

Website for Explicit robotics software

Code for the paper Data-efficient model learning and prediction for contact-rich manipulation tasks, RA-L, 2020

Author's PyTorch implementation of TD3 for OpenAI gym tasks

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 (…

C^1 continuous interpolation of spherical displacements using the slerp-algorithm and Bézier curves.

Factored inference for discrete-continuous smoothing and mapping.

Inverse Kinematics Engine for the Franka Emika Panda for Cartesian Pose Control.

A simple MuJoCo simulation to demonstrate impedance-matching of a manipulator