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A trajectory optimization library for Matlab
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Simulink-based whole body controllers for humanoid robots.
Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effect…
This repository makes it easy to run your MATLAB tests on some of the most common CI platforms. The configuration files take care of setting up MATLAB and automatically executing your MATLAB tests.
Java-based implementation of YAML IO support in MATLAB.
Some utilities for exploring Matlab's behavior
Files demonstrating how to diff Simulink models and attach reports to pull requests
FI5: Rapidly Manufactured Ventilator System
[ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914
Repository associated with the paper "Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot", published in IEEE ICRA 2023.
In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.
[IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275
Supplementary Material "Modeling and Control of Morphing Covers for the Adaptive Morphology of Humanoid Robots" published in IEEE Transactions on Robotics 2022
Contains material for a lean Simscape course in which you can learn to control a four-bar linkage with a DC motor.
mystica is a Matlab library for simulating multi-body robots relying on a maximal coordinate approach
Files and documentation on how to use the Shinobi Open-Source Video Management Software for Robotics Research.
A small MATLAB/iDynTree based library for rigid body systems kinematics, dynamics, simulation and control.