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1. legged_robot_mpc_controller legged_robot_mpc_controller Public

   Loco-manipulation of legged robot using MPC, integrated with mujoco sim

   C++

2. robot_math_utils robot_math_utils Public

   A C++ Eigen-based maths library for robotics applications, including SO(3) and SE(3) transformations, screw motions, robot kinematics, and control laws. All the codes are successfully tested in ROS…

   C++ 10 2

3. kendo_robot kendo_robot Public

   KENDO ROBOT- Combining Robotics Technologies with Martial Art (NTU CSIE5074 Robotics 2023/24 Final Project, Team 5)

   JavaScript 2

4. kf_cpp kf_cpp Public

   ROS 2 C++ implementation of Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) with demo nodes.

   C++ 8 2

5. cga_ik cga_ik Public

   Closed-form inverse kinematics (IK) solution for 6-DoF collaborative robot (cobot) and 3-DoF spherical parallel manipulator (SPM) based on conformal geometric algebra (CGA). Implemented in ROS 2 C++.

   C++ 6

6. stewart_platform_sim stewart_platform_sim Public

   ROS 2 Python simulation of a six-DoF stewart platform with SPS structure

   Python 4 2