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.