Baseline controller family
I am developing open-source humanoid controllers based on the robot control framework mc_rtc. All of the following controllers are implemented in a unified architecture and enable general baseline motions of humanoids.
BaselineWalkingController
Humanoid walking controller with various baseline methods.
LocomanipController
Humanoid loco-manipulation controller.
MultiContactController
Humanoid multi-contact motion controller.
Baseline planner
BaselineFootstepPlanner
Humanoid footstep planner based on baseline methods with graph search.
General-purpose controller
NMPC
Non-linear model predictive control (NMPC) library.
Simulation utilities
RobotArrayVisualization
ROS-based visualization library for robot arrays.
MujocoRosUtils
ROS-based MuJoCo utilities.
MujocoTactileSensorPlugin
Plugin to simulate tactile sensors in MuJoCo.
CnoidRosUtils
ROS-based Choreonoid utilities.
