Multibody Dynamics Library designed for Free Floating Robots
EKF model to estimate humanoid state (pose + velocities) based on floating base dynamics equations.
Library capable of estimating internal and external residuals for a floating base robot. It is also capable of estimating any external force acting on the robot, as long as the time and position of the collision are known
Master Thesis project - Cartesian impedance controller of a quadruped robot
ROS2 wrapper for the haptiquad library, capable of calculating residuals and estimating ground reaction forces and base wrench acting on a quadruped floating base robot
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