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    19 repositories

    • linear-feedback-controller-msgs

      Public
      ROS messages which correspond to the loco-3d/linear-feedback-controller package
      Python
      •
      BSD 2-Clause "Simplified" License
      •4•2•2•1•Updated Dec 17, 2025Dec 17, 2025

    • linear-feedback-controller

      Public
      ROS2 control linear feedback controller. It connects Ricatti gains based controllers with the hardware through ROS2 topics.
      C++
      •
      BSD 2-Clause "Simplified" License
      •11•8•5•0•Updated Dec 17, 2025Dec 17, 2025

    • quadruped-walkgen

      Public
      C++
      •
      BSD 2-Clause "Simplified" License
      •1•3•0•0•Updated Dec 17, 2025Dec 17, 2025

    • sot-talos-balance

      Public archive
      Coordination project for the control of the balance of Talos.
      C++
      •
      BSD 2-Clause "Simplified" License
      •5•0•3•1•Updated Dec 17, 2025Dec 17, 2025

    • crocoddyl

      Public
      Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
      roboticscondamotion-planningroscode-generationtrajectory-optimizationoptimal-controldifferential-dynamic-programminglegged-roboticsmodel-predictive-control
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •204•1.1k•14•1•Updated Dec 16, 2025Dec 16, 2025

    • ndcurves

      Public
      Library for creating smooth cubic splines
      C++
      •
      BSD 2-Clause "Simplified" License
      •40•175•9•0•Updated Dec 15, 2025Dec 15, 2025

    • multicontact-api

      Public
      This package install a python module used to define, store and use ContactSequence objects.
      Jupyter Notebook
      •
      Other
      •6•6•4•1•Updated Dec 15, 2025Dec 15, 2025

    • whole_body_state_msgs

      Public
      Standardised ROS messages for encoding whole-body state information
      rosmessagesros2
      CMake
      •
      BSD 3-Clause "New" or "Revised" License
      •6•14•0•0•Updated Dec 9, 2025Dec 9, 2025

    • whole_body_state_rviz_plugin

      Public
      Rviz plugins to display whole-body states and trajectories
      rosrvizlegged-robotics
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •16•73•1•0•Updated Dec 9, 2025Dec 9, 2025

    • sl1m

      Public
      Implementation of the sl1m solver for multi contact planning
      Python
      •
      BSD 2-Clause "Simplified" License
      •18•19•2•1•Updated Oct 1, 2025Oct 1, 2025

    • multicontact-locomotion-planning

      Public
      MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning
      Python
      •
      BSD 2-Clause "Simplified" License
      •13•74•6•0•Updated Feb 29, 2024Feb 29, 2024

    • sl1m_ros

      Public
      Python
      •1•0•0•1•Updated May 23, 2023May 23, 2023

    • slim_ros

      Public
      Python
      •1•0•0•0•Updated May 10, 2022May 10, 2022

    • solo-collisions

      Public
      C++
      •
      BSD 2-Clause "Simplified" License
      •3•1•0•0•Updated Apr 23, 2020Apr 23, 2020

    • timeopt

      Public
      C++
      •
      Other
      •3•0•1•0•Updated Oct 31, 2019Oct 31, 2019

    • pyrene

      Public archive
      Issues on Pyrene
      0•0•3•0•Updated Aug 25, 2017Aug 25, 2017

    • mpc-lpg

      Public archive
      Receding Horizon implementation of the Locomotion Pattern Generator
      0•0•0•0•Updated Jun 14, 2017Jun 14, 2017

    • sensing

      Public archive
      Repository collecting issues and information regarding sensing for the Loco3D project
      GNU General Public License v3.0
      •0•0•1•0•Updated Mar 31, 2017Mar 31, 2017

    • torque-control

      Public archive
      Repository collecting issues and information regarding the torque control for the Loco3D project
      GNU General Public License v3.0
      •0•0•9•0•Updated Mar 31, 2017Mar 31, 2017