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Various Models for MIT Mini Cheetah

This package incorporates a few models (full-order and reduced-order) of the MIT Mini Cheath Robots.

Features

  • Kinematic tree built using spatial_v2_extended (extension of Feathersone's algorithm)
  • Whole-Body KKT Dynamics
  • Single-Rigid-Body Dynamics
  • Variations of all models above that incoporate motor rotors
  • Functions to quickly generate C++ interfaces, including forward kinematics, dynamics, and first-order dynamics derivatives (using automatic differentiation)

Dependencies