University of Michigan Dynamic Legged Locomotion Robotics Lab
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- This dataset is comprised of simulation and hardware trajectories with various faults for the Digit robot during the task of standing. The simulation trajectories contain abrupt, incipient, and intermittent faults, while the hardware trajectories contain abrupt and incipient faults. A tutorial of the dataset can be found in the viz branch.
LiDARTag
PublicThis is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Contro…
- 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…
- This work proposes an anytime iterative system to concurrently solve the multi-objective path planning problem and determine the visiting order of destinations. The paper has been uploaded to arXiv at https://arxiv.org/abs/2205.14853
docker_images
Public archive- 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.
- 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…
optimal_shape_generation
PublicThis 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…torso_design_for_cassie
Publicoutdoor_cvo
Publicglobal_sim3_solver
PublicAprilTag_ROS
Publicsync_lidartag_apriltag
Public