Hybrid Robotics

Popular repositories Loading

1. whole_body_tracking whole_body_tracking Public

   Python 2.3k 321

2. berkeley-humanoid-lite berkeley-humanoid-lite Public

   Codebase for Berkeley Humanoid Lite

   Python 1.7k 257

3. motion_tracking_controller motion_tracking_controller Public

   C++ 538 58

4. CBF-CLF-Helper CBF-CLF-Helper Public

   Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

   MATLAB 381 79

5. MPC-CBF MPC-CBF Public archive

   "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

   334 57

6. NMPC-DCLF-DCBF NMPC-DCLF-DCBF Public

   A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

   MATLAB 320 53