Multibody Dynamics Library designed for Free Floating Robots
EKF model to estimate humanoid state (pose + velocities) based on floating base dynamics equations.
Library capable of estimating internal and external residuals for a floating base robot. It is also capable of estimating any external force acting on the robot, as long as the time and position of the collision are known
ROS2 wrapper for the haptiquad library, capable of calculating residuals and estimating ground reaction forces and base wrench acting on a quadruped floating base robot
Master Thesis project - Cartesian impedance controller of a quadruped robot
Geometric modeling and MATLAB simulation of an underwater glider with floating-base dynamics, internal moving masses, and variable ballast.
Development of a Walking and Trajectory Planning Controller using an inverted pendulum, floating-base MPC optimal controller. Simulation done with Pybullet and Crocoddyl
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