Hybrid Robotics

All

29 repositories

cassie_rl_walking
Public
Python
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Other
•0•22•0•0•Updated Nov 21, 2024Nov 21, 2024
depth_cbf
Public
Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control
Python
•2•5•0•0•Updated Nov 12, 2024Nov 12, 2024
DiffuseLoco
Public
Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Python
•1•36•4•0•Updated Oct 30, 2024Oct 30, 2024
isaac_berkeley_humanoid
Public
Python
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Other
•4•95•0•0•Updated Oct 12, 2024Oct 12, 2024
SymmLoco
Public
Python
•1•5•0•0•Updated Oct 11, 2024Oct 11, 2024
berkeley_humanoid_description
Public
OpenSCAD
•2•18•0•0•Updated Aug 23, 2024Aug 23, 2024
CBF-CLF-Helper
Public
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
matlab control-theory clf safety-critical cbf control-lyapunov-functions control-barrier-functions
MATLAB
•64•275•5•0•Updated Jun 30, 2024Jun 30, 2024
vo-polytope
Public
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)
Python
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MIT License
•0•6•0•0•Updated Jun 10, 2024Jun 10, 2024
car-racing
Public
A toolkit for testing control and planning algorithm for car racing.
learning trajectory-optimization nonlinear-optimization optimization-algorithms obstacle-avoidance model-predictive-control car-racing casadi control-barrier-functions simulation
Python
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MIT License
•32•168•2•0•Updated Apr 19, 2024Apr 19, 2024
ilqr-iterative-tasks
Public
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246
Python
•1•16•0•0•Updated Mar 18, 2024Mar 18, 2024
PPQL
Public
Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload (RA-L 2020)
MATLAB
•0•6•0•0•Updated Feb 29, 2024Feb 29, 2024
cbf
Public
An open source repository for control, planning and navigation about control barrier functions.
Python
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Apache License 2.0
•27•176•5•1•Updated Feb 22, 2024Feb 22, 2024
NMPC-DCLF-DCBF
Public
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
matlab nonlinear-optimization quadratic-programming model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions
MATLAB
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MIT License
•46•238•3•3•Updated Nov 9, 2023Nov 9, 2023
prompt2walk
Public
Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969
machine-learning ai robotics ml artificial-intelligence control-systems locomotion large-language-models
Python
•9•87•0•0•Updated Sep 22, 2023Sep 22, 2023
multiple-quadrotor-flexible-hose
Public
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
control dynamics matlab simulations quadcopter-simulation
MATLAB
•8•38•1•0•Updated May 26, 2023May 26, 2023
ball-and-beam-project
Public
EE222/ME237 Nonlinear Systems, Spring 2022, Starter code for the course project.
MATLAB
•12•5•0•0•Updated Apr 14, 2023Apr 14, 2023
Iterative-MPC-DHOCBF
Public
"Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, K. Sreenath and C. Belta http://arxiv.org/pdf/2210.04361.pdf
MATLAB
•2•12•0•0•Updated Mar 11, 2023Mar 11, 2023
quadruped_nmpc_dcbf_duality
Public
C++
•15•89•0•0•Updated Jan 2, 2023Jan 2, 2023
GenLoco
Public
Python
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Apache License 2.0
•28•246•3•0•Updated Sep 13, 2022Sep 13, 2022
Lane-Change-CBF
Public archive
Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382
MATLAB
•14•93•0•0•Updated Jul 23, 2022Jul 23, 2022
Quad-Load-Offset
Public
"Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939
MATLAB
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MIT License
•0•3•1•0•Updated Mar 7, 2022Mar 7, 2022
Quad-Load-Pulley
Public archive
"Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley" by J. Zeng, P. Kotaru and K. Sreenath https://ieeexplore.ieee.org/document/8815173
MATLAB
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MIT License
•1•5•0•0•Updated Mar 7, 2022Mar 7, 2022
Quad-Load
Public
Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.
MATLAB
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MIT License
•0•12•0•0•Updated Mar 7, 2022Mar 7, 2022
HybridRoA
Public
Source code for "Computation of RoAs for Hybrid Limit Cycles Using Reachability: An Application to Walking Robots", RA-L 2022
MATLAB
•1•0•0•0•Updated Feb 28, 2022Feb 28, 2022
MPC-CBF
Public archive
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions mpc-cbf control-barrier-functions
MIT License
•46•236•0•0•Updated Jan 21, 2022Jan 21, 2022
geometric-toolbox
Public
Contains all the functions (such as hat map, rotations, transport map, etc.) used during the development of geometric mechanics and control of robotic systems.
MATLAB
•6•17•0•0•Updated Aug 25, 2021Aug 25, 2021
dynamics_on_manifolds
Public
Symbolic Computation of Dynamics on Smooth Manifolds
Scala
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Other
•3•5•1•0•Updated Jul 30, 2021Jul 30, 2021
CBF-Pointwise-Feasibility
Public archive
"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
optimization feasibility safety-critical-systems control-lyapunov-functions control-barrier-functions input-constraints
MATLAB
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MIT License
•9•27•0•0•Updated May 23, 2021May 23, 2021
agility-cassie-doc
Public
The official Agility Robotics Cassie documentation and software release repository.
Batchfile
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Other
•24•0•0•0•Updated Jun 12, 2018Jun 12, 2018