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DFKI RIC Underactuated Lab

Underactuated Robotics Lab at Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), Bremen, Germany

111 followers
Germany

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torque_limited_simple_pendulum torque_limited_simple_pendulum Public

Torque Limited Simple Pendulum Underactuated System

Python 62 18
double_pendulum double_pendulum Public

Dual purpose Acrobot and Pendubot Platform

Python 56 36
acromonk acromonk Public

AcroMonk: A Minimalist Underactuated Brachiating Robot

Python 55 6
mini-cheetah-tmotor-python-can mini-cheetah-tmotor-python-can Public

Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface

Python 44 20

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Showing 10 of 35 repositories

auv_control_indi Public
Control of Large Intervention AUV using Incremental Non-Linear Dynamic Inversion

dfki-ric-underactuated-lab/auv_control_indi's past year of commit activity

Python 8 BSD-3-Clause 1 0 0 Updated Sep 17, 2026
cubemars_driver_node Public
ROS 2 driver for the CubeMars AK motors

dfki-ric-underactuated-lab/cubemars_driver_node's past year of commit activity

C++ 0 0 0 1 Updated Sep 9, 2026
PKM-iLQR Public
Trajectory Optimization for Robots with Kinematic Loops

dfki-ric-underactuated-lab/PKM-iLQR's past year of commit activity

0 BSD-3-Clause 0 0 0 Updated Aug 28, 2026
double_pendulum Public
Dual purpose Acrobot and Pendubot Platform

dfki-ric-underactuated-lab/double_pendulum's past year of commit activity

Python 56 BSD-3-Clause 36 3 1 Updated Aug 14, 2026
ros2_drake_simulation Public
This ROS 2 package contains the drake simulation for walking robots.

dfki-ric-underactuated-lab/ros2_drake_simulation's past year of commit activity

C++ 1 2 0 0 Updated Jun 25, 2026
ros2_ulab_common Public

dfki-ric-underactuated-lab/ros2_ulab_common's past year of commit activity

C++ 0 BSD-3-Clause 0 0 0 Updated Jun 24, 2026
robot_control_msgs Public
ROS 2 messages for (legged) robot control

dfki-ric-underactuated-lab/robot_control_msgs's past year of commit activity

CMake 0 BSD-3-Clause 0 0 0 Updated Jun 18, 2026
torque_limited_simple_pendulum Public
Torque Limited Simple Pendulum Underactuated System

dfki-ric-underactuated-lab/torque_limited_simple_pendulum's past year of commit activity

Python 62 BSD-3-Clause 18 0 0 Updated May 28, 2026
mimpc Public
Mixed-Integer MPC library. Was successfully demonstrated on a free-floating platform with binary thrusters (under timing constraints) and a reaction wheel.

dfki-ric-underactuated-lab/mimpc's past year of commit activity

C++ 8 BSD-3-Clause 0 0 0 Updated May 5, 2026
dfki-quad Public
This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller using MPC, WBC and different Gait Sequencers and hardware drivers to be used with different quadrupeds.

dfki-ric-underactuated-lab/dfki-quad's past year of commit activity

C++ 52 3 0 0 Updated May 4, 2026

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