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@iit-DLSLab

DLS Lab at Istituto Italiano di Tecnologia, Italy

Dynamic Legged Systems Lab - Design and control of high-performance, versatile legged robots, including planning and perception

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  1. Quadruped-PyMPC Quadruped-PyMPC Public

    A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

    Python 222 18

  2. Panoptic-SLAM Panoptic-SLAM Public

    Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation

    C++ 78 6

  3. reactive_landing_controller reactive_landing_controller Public

    Code for the paper Reactive Landing Controller for Quadruped Robots

    Python 16 2

  4. gym-quadruped gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    Python 16 6

  5. dls_factor_graph_calibration dls_factor_graph_calibration Public

    This ROS package uses factor graphs to compute extrinsic parameters of multi-cameras on a robot

    C++ 10 8

  6. ros_impedance_controller ros_impedance_controller Public

    C++ 9

Repositories

Showing 10 of 42 repositories
  • Quadruped-PyMPC Public

    A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax).

    iit-DLSLab/Quadruped-PyMPC’s past year of commit activity
    Python 222 18 4 1 Updated Dec 12, 2024
  • primal_dual_ilqr Public Forked from joaospinto/primal_dual_ilqr

    JAX Optimization for OCP

    iit-DLSLab/primal_dual_ilqr’s past year of commit activity
    Python 0 1 0 0 Updated Dec 11, 2024
  • vicon_bridge Public Forked from ethz-asl/vicon_bridge

    This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.

    iit-DLSLab/vicon_bridge’s past year of commit activity
    C++ 0 103 0 0 Updated Dec 10, 2024
  • DWMPC Public

    A distributed whole-body model predictive control for quadruped robots

    iit-DLSLab/DWMPC’s past year of commit activity
    C 9 0 0 0 Updated Dec 6, 2024
  • rai_dls Public Forked from MarcToussaint/rai

    Robotic AI bare code. This is designed as shared submodule of other projects. Try other repos that expose clearer interfaces (rai-python, robotics-course) first.

    iit-DLSLab/rai_dls’s past year of commit activity
    C++ 0 MIT 46 0 0 Updated Dec 5, 2024
  • Panoptic-SLAM Public

    Panoptic-SLAM: Visual SLAM in Dynamic Environments using Panoptic Segmentation

    iit-DLSLab/Panoptic-SLAM’s past year of commit activity
    C++ 78 GPL-3.0 6 0 0 Updated Dec 2, 2024
  • gym-quadruped Public

    Mujoco Gym environment for the control of quadruped robots

    iit-DLSLab/gym-quadruped’s past year of commit activity
    Python 16 6 5 0 Updated Nov 28, 2024
  • sensors-description Public

    This package contains the description (kinematic, visual, plugin, etc.) of the different sensors used at DLS lab. The files in this package are parsed and used by a variety of other components. Most users will not interact directly with this package.

    iit-DLSLab/sensors-description’s past year of commit activity
    C++ 7 11 1 0 Updated Nov 26, 2024
  • ec_dds Public
    iit-DLSLab/ec_dds’s past year of commit activity
    C++ 0 0 0 0 Updated Nov 14, 2024
  • z1_sdk Public Forked from unitreerobotics/z1_sdk

    SDK tools for controlling z1 robot

    iit-DLSLab/z1_sdk’s past year of commit activity
    C++ 0 BSD-3-Clause 23 0 0 Updated Oct 29, 2024
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