Real-time behaviour synthesis with MuJoCo, using Predictive Control

A MARL method for motion planning of free-floating space robot.

开源全身动力学控制软件包

Base Mujoco Gymnasium environment for easily controlling any robot arm with operational space control. Built with dm-control PyMJCF for easy configuration.

Simultaneous Force, velocity and position control of a RR planar manipulator for sketching

https://hrl.boyuai.com/

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

Force controlled assembly process. In real and simulated environment. Using Universal Robots UR5, ROS, Gazebo.

Compliant Control: 1) admittance control algorithm 2) impedance control algorithm 3) hybrid force&position algorithm in robotic arm (Universal Robot).

Optimal Control for Switched Systems

A simple example/template for making ROS QT GUIs

A moveit_based dual arm pick&place program

Python inverse kinematics based on Pinocchio

This repo contains trajectory-optimisation on some basic systems (ex: pendulum,cartpole ,quadrotors and manipulators). Will be implementing algorithms like finite horizon LQR, iLQR and Box DDP

None

📖 北京理工大学非官方 LaTeX 模板集合，包含本科、研究生毕业设计模板及更多。🎉 （更多文档请访问 wiki 和 release 中的手册）

Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"

A collection of tools and plugins for Gazebo