Software

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C++ library which provides kinematic and dynamic quantities for robotics. The strength of this library is in the implementation of various parameterizations of rotations.

This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. It is used in the Robot-Centric Elevation Mapping package designed for rough terrain navigation.

The Legged State Estimator (LSE) library provides an Observability Constrained Extended Kalman Filter for legged dystems and a routine for time delay calibration between different sensor modalities.

This is a ROS package developed for elevation mapping with a mobile robot. The software is designed for (local) navigation tasks with robots which are equipped with a pose estimation (e.g. IMU & odometry) and a distance sensor (e.g. kinect, laser range sensor, stereo camera). The provided elevation map is limited around the robot and reflects the pose uncertainty that is aggregated through the motion of the robot (robot-centric mapping). This method is developed to explicitly handle drift of the robot pose estimation.

The tool proNEu uses the MATLAB Symbolic Math Toolbox to derive the analytical global kinematics and equations of motion based on projected Newton-Euler methods. 
Several examples highlight how this tool has to be used. The user chooses the generalized coordinates, actuator and link parameters before setting up a very simple kinematic tree of the entire system. Symbolically, global kinematics and the equations of motion are derived and the user can visually check the robot configuration. In the examples it is outlined, how the user can manually get function files, compiled mex-function, or c-code that can be used or embedded in any simulation environment.

Free Gait is a software framework (whole-body abstraction layer) for the versatile control of legged robots. Through its interface, motions in task space can be defined for static and dynamic maneuvers. During execution, Free Gait tracks the desired motions robustly even under slip and external disturbances. The application of this framework includes intuitive tele-operation of the robot, efficient scripting of behaviors, and interface for motion and footstep planners.

Tools, methods, and examples for modeling, simulation, gait creation, and gait analysis implemented for MATLAB R2010a. Tools, methods, and examples for modeling, simulation, gait creation, and gait analysis implemented for MATLAB R2010a. 
The framework contains methods for the simulation of hybrid dynamic systems, both passive as well as active. Functionality for logging and visualization of simulations is available, and three models of different walking and running robots are provided as examples and as a starting point for further studies. Gait creation (i.e., the search for periodic solutions) and optimization is implemented with single shooting and direct collocation algorithms and functions for stability analysis of active and passive systems are provided. All concepts and functions are introduced along the provided examples. Lagrangian mechanics are derived with the symbolic math toolbox and numerical optimization/root search is performed using the fsolve and fmincon routines of the optimization toolbox.

C++ Locomotion Control library for Quadruped robot.

ROS nodes to read and write point clouds from and to files (e.g. ply, vtk).

 
 
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23.05.2017
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