The Python Toolbox for Robotics

Impedance Control of Series Elastic Actuators

Application and programming examples for the KUKA LBR iiwa 7 R800

An interface to control a YASKAWA GP7-YRC1000 industrial robotic arm through a teleoperation method.

Supplementary material to a paper to the IEEE IROS 2016 conference (impedance control and disturbance observer for hydraulic robot arm)

Code for simulation of adaptive impedance control applied to ankle bot

ForceCAST from ALTAIR Robotics Laboratory adapted by the Legged Robotics Group (LegRo)

A load cell measures the weight using strain gauges. The difference between the length of the load cell at one side of the cell will help in determining the weight that is applied to it. This will change the output impedance. The output impedance is integrated into a Wheatstone bridge where the difference of the output impedance determines and c…

Robotics Book - Parallel Robots: Mechanics and Control Book

Ibex: a unique unmanned ground vehicle with a dynamic wheelbase and an adaptive thrust based friction optimization scheme that aids in the traversal of steep slopes and slippery surfaces. The vehicle is capable of adapting itself to the surface topography using an impedance-based stabilization module to minimize the mechanical oscillatory transi…

A repo for a bipedal robot project

A tutorial on implementing an impedance control for a collaborative robot that can work together with humans.

Control of a bipedal walker

Project in Advanced Robotics course project at SDU 21/22. Implementation of learning method for skills for arm robots based on GMM with Rieamannian Manifolds

ROS-based project for Robot Control and Simulation course at Warsaw University of Technology.

Transparency control framework based on inertial measurement units fixed on the user to a series elastic exoskeleton joint. This approach guarantees the robot’s transparent behavior without explicitly relying on force or human-robot interaction sensors.

Set of cartesian controllers for ros2_control

LATEX report of my literature study into stable variable impedance learning.