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@UMich-BipedLab

University of Michigan Dynamic Legged Locomotion Robotics Lab

We do feedback control of bipedal robots and we do it better than anyone else.

Pinned

  1. This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning syste…

    C++ 22 8

  2. LiDARTag Public

    This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

    C++ 128 31

  3. This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's …

    MATLAB 219 47

  4. Example code for contact-aided invariant extended Kalman filtering.

    MATLAB 39 16

Repositories

  • C++ 34 MIT 15 1 0 Updated Dec 19, 2021
  • docker_images Public archive
    Dockerfile 2 MIT 5 0 0 Updated Nov 18, 2021
  • MATLAB 1 0 0 0 Updated Nov 17, 2021
  • extrinsic_lidar_camera_calibration Public

    This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

    MATLAB 219 AGPL-3.0 47 0 0 Updated Oct 21, 2021
  • LiDARTag Public

    This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

    C++ 128 AGPL-3.0 31 0 1 Updated Sep 16, 2021
  • CLF_reactive_planning_system Public

    This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…

    C++ 22 AGPL-3.0 8 0 0 Updated Sep 7, 2021
  • global_pose_estimation_for_optimal_shape Public

    This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed…

    MATLAB 1 AGPL-3.0 1 0 0 Updated Sep 6, 2021
  • optimal_shape_generation Public

    This package introduces the concept of optimizing target shape to remove pose ambiguity for LiDAR point clouds. Both the simulation and the experimental results confirm that by using the optimal shape and the global solver, we achieve centimeter error in translation and a few degrees in rotation even when a partially illuminated target is placed…

    MATLAB 0 AGPL-3.0 0 0 0 Updated Sep 6, 2021
  • MATLAB 12 AGPL-3.0 4 0 0 Updated Aug 30, 2021