Estimate a stable linear dynamical system from data
Implementation of LMDS ("Incremental Motion Learning with Locally Modulated Dynamical Systems" ,Kronander, Khansari and Billard, Robotics and Autonomous Systems, 2015)
ROS KUKA robot control (simulation & physical)
Force torque sensor
A Machine learning toolbox containing algorithms for non-linear dimensionality reduction, clustering, classification and regression along with examples and tutorials which accompany the Master level "Advanced Machine Learning" and "Machine Learning Programming" courses taught at EPFL by Prof. Aude Billard
A package implementing various controllers for first order DS tasks
Virtual Object Dynamical System for Dual-Arm Coordination, controller and execution class.
callback wrapper for rosbag record
human-inspired bimanual catching with Coman
A package implementing Savitzky-Golay smoothing and differentiation. May be useful to estimate e.g. velocity and acceleration from position measurements.
Source Codes for Augmented-Support Vector Machine
This package runs a simulation of the KUKA LWR robot in the LASA lab (EPFL) with the position/velocity-resolved control interface.
Estimate the load share of an object supported by the robot (accounting for dynamics), using force/torque sensor data.
Gazebo model plugin to set joints position on a robot (useful when replaying a rosbag for instance)
The robot simulator and interface of LASA
Coupled Dynamical Systems Execution for Position (master) - Orientation (slave) of end-effector.
Library for reading Motion Capture Data.
Simple Allegro lib interface/controller inherited from Seunsgu. Depends on Mathlib and Motion_generators from RobotToolkit.
This repository includes the packages and instructions to run the LASA Motion planning architecture developed initially for the rolling task within the Robohow project, but can be used for any task that and any type of controller in task spacce (i.e. desired cartesian pose/ft/stiff)/
package for compliant grasping
publisher for syntouch
The probabilistic hand inverse kinematics
Gaussian Process Implicit Surface and Contact-level Grasp Planning
ROS nodes for working with the NaturalPoint Optitrack motion capture setup