Multibody Dynamics Library designed for Free Floating Robots
EKF model to estimate humanoid state (pose + velocities) based on floating base dynamics equations.
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
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
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