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  • Harbin Institute of Technology
  • China

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Starred repositories

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Bachelor Thesis - Stabilization of the Variable-Height Inverted Pendulum based on Input-State Stability and Sliding Mode Control under Unilateral Contact and Input Saturation.

MATLAB 9 4 Updated Sep 8, 2022

Work done in IHMC Robotics since Aug 2019

C++ 57 33 Updated Sep 8, 2022

🤯 Lobe Chat - an open-source, modern-design AI chat framework. Supports Multi AI Providers( OpenAI / Claude 3 / Gemini / Ollama / Qwen / DeepSeek), Knowledge Base (file upload / knowledge managemen…

TypeScript 49,170 10,669 Updated Dec 19, 2024

lightweight C/C++ library for interacting with all of MicroStrain's current G and C series products.

C++ 7 10 Updated Dec 16, 2024

Humanoid loco-manipulation controller

C++ 29 5 Updated Aug 16, 2024

Robotics class

Jupyter Notebook 69 17 Updated Aug 14, 2024

An Open Source Task Solving library with Constraints

C++ 80 5 Updated Dec 11, 2024

Converting OnShape assembly to robot definition (SDF or URDF) through OnShape API

Python 264 60 Updated Aug 29, 2024

GoogleTest - Google Testing and Mocking Framework

C++ 35,069 10,208 Updated Dec 16, 2024

Full Autonomy Stack for Unitree Go2

C++ 101 12 Updated Aug 28, 2024

Humanoid Robots Resources

269 12 Updated Dec 18, 2024

Understanding Deep Learning - Simon J.D. Prince

Jupyter Notebook 6,699 1,393 Updated Dec 18, 2024

ROS2-Control implementations for Quadruped robots

C++ 139 17 Updated Nov 6, 2024

pix2tex: Using a ViT to convert images of equations into LaTeX code.

Python 13,095 1,047 Updated Dec 5, 2024

全球最小的桌面级双轮腿机器人!

C++ 937 175 Updated Dec 12, 2024

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged …

Python 452 48 Updated Dec 19, 2024

MicroStrain Communication Library

C++ 81 57 Updated Dec 18, 2024

A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems

C++ 59 5 Updated Dec 3, 2024

An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)

C++ 790 158 Updated Sep 15, 2023

Visualization of Motions for Legged Robots in ros-rviz

C++ 327 99 Updated Dec 9, 2021

A next-gen Lagrange-Newton solver for nonconvex constrained optimization. Unifies barrier and SQP methods in a generic way, and implements various globalization flavors (line search/trust region an…

C++ 307 23 Updated Dec 16, 2024

PSOPT Optimal Control Software

C++ 202 77 Updated Sep 2, 2024

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

C 1,908 594 Updated Dec 16, 2024

Non-chain inverse kinematics solver for MoveIt!

C++ 38 17 Updated Aug 14, 2019

This repository contains python codes for an algorithm developed for push recovery of a biped form different stance scenarios. The stance scenarios are: Double contact at same level ground, Double …

Python 2 Updated May 31, 2024

Repository for learning a policy to get a humanoid robot to stand up

Python 11 1 Updated Oct 25, 2024
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