Multibody Dynamics Library designed for Free Floating Robots
EKF model to estimate humanoid state (pose + velocities) based on floating base dynamics equations.
Cartesian impedance controller of a quadruped robot
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 external forces acting on a floating base robot
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