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cassie_alip_mpc
cassie_alip_mpc PublicForked from UMich-BipedLab/cassie_alip_mpc
This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Vir…
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Contact-Aided-Invariant-EKF
Contact-Aided-Invariant-EKF PublicForked from UMich-BipedLab/Contact-Aided-Invariant-EKF
Example code for contact-aided invariant extended Kalman filtering.
MATLAB
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