Software

Automatic Differentiation for rigid body dynamics AlgorithMs

Suite of C++/Python libraries for achieving bipedal locomotion on humanoid robots

Ignition Gazebo plugins implemented with ScenarI/O

Framework for developing reinforcement learning robotics environments simulated with Ignition Gazebo

C++/MATLAB/Python multibody dynamics library designed for free floating robots

Header-only C++ libraries containing controllers designed for Lie Groups

A C++ library for reading and writing *.mat files

Maximum A Posteriori estimation for human kinematics and dynamics

MATLAB/Simulink block for simulation of humanoid robots with contacts

Matlab library for simulating multi-body robots relying on a maximal coordinate approach

A C++ library for generating walking trajectories adopting the unicycle model

Suite of C++ modules to teleoperate a humanoid robot in a remote location

Data collection framework for human wearable sensors