A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
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Updated
Apr 17, 2023 - C++
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
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…
Its a 6 degree of freedom Biped that I am working on which can mimic basic human walking action.
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