Hybrid Robotics

All

36 repositories

Ego-VCP
Public
Python
•
MIT License
•0•14•1•0•Updated Oct 26, 2025Oct 26, 2025
motion_tracking_controller
Public
Python
•
MIT License
•28•303•7•0•Updated Oct 9, 2025Oct 9, 2025
whole_body_tracking
Public
Python
•
MIT License
•128•1.1k•11•1•Updated Oct 5, 2025Oct 5, 2025
Berkeley-Humanoid-Lite
Public
Codebase for Berkeley Humanoid Lite
Python
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MIT License
•138•978•7•1•Updated Sep 11, 2025Sep 11, 2025
Berkeley-Humanoid-Lite-Assets
Public
A submodule of Berkeley Humanoid Lite Project
robotics urdf mjcf
Python
•
Creative Commons Attribution Share Alike 4.0 International
•11•28•0•0•Updated Sep 7, 2025Sep 7, 2025
Berkeley-Humanoid-Lite-Lowlevel
Public
A submodule of Berkeley Humanoid Lite Project
Python
•11•34•0•0•Updated Sep 7, 2025Sep 7, 2025
vo-polytope
Public
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)
Python
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MIT License
•5•18•0•0•Updated Jul 20, 2025Jul 20, 2025
DiffuseLoco
Public
Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Python
•17•150•6•0•Updated Apr 14, 2025Apr 14, 2025
cbf-convex-maps
Public
A repository for enforcing CBF constraints between strictly convex sets.
C++
•4•12•0•0•Updated Feb 6, 2025Feb 6, 2025
cassie_rl_walking
Public
Python
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Other
•3•60•0•0•Updated Nov 21, 2024Nov 21, 2024
depth_cbf
Public
Point Cloud-Based Control Barrier Function Regression for Safe and Efficient Vision-Based Control
Python
•3•14•0•0•Updated Nov 12, 2024Nov 12, 2024
isaac_berkeley_humanoid
Public
Python
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Other
•27•255•3•0•Updated Oct 12, 2024Oct 12, 2024
SymmLoco
Public
Python
•1•51•0•0•Updated Oct 11, 2024Oct 11, 2024
berkeley_humanoid_description
Public
OpenSCAD
•3•39•0•0•Updated Aug 23, 2024Aug 23, 2024
CBF-CLF-Helper
Public
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
matlab control-theory clf safety-critical cbf control-lyapunov-functions control-barrier-functions
MATLAB
•75•342•5•0•Updated Jun 30, 2024Jun 30, 2024
car-racing
Public
A toolkit for testing control and planning algorithm for car racing.
learning simulation trajectory-optimization nonlinear-optimization optimization-algorithms obstacle-avoidance model-predictive-control car-racing casadi control-barrier-functions
Python
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MIT License
•37•184•2•0•Updated Apr 19, 2024Apr 19, 2024
ilqr-iterative-tasks
Public
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments (CDC 2023) https://arxiv.org/abs/2302.14246
Python
•1•20•0•0•Updated Mar 18, 2024Mar 18, 2024
PPQL
Public
Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload (RA-L 2020)
MATLAB
•0•9•0•0•Updated Feb 29, 2024Feb 29, 2024
cbf
Public
An open source repository for control, planning and navigation about control barrier functions.
Python
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Apache License 2.0
•34•204•5•1•Updated Feb 22, 2024Feb 22, 2024
NMPC-DCLF-DCBF
Public
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
matlab nonlinear-optimization quadratic-programming model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions
MATLAB
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MIT License
•49•293•3•3•Updated Nov 9, 2023Nov 9, 2023
prompt2walk
Public
Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969
machine-learning ai robotics ml artificial-intelligence control-systems locomotion large-language-models
Python
•11•111•0•0•Updated Sep 22, 2023Sep 22, 2023
multiple-quadrotor-flexible-hose
Public
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
control dynamics matlab simulations quadcopter-simulation
MATLAB
•9•41•1•0•Updated May 26, 2023May 26, 2023
ball-and-beam-project
Public
EE222/ME237 Nonlinear Systems, Spring 2022, Starter code for the course project.
MATLAB
•12•5•0•0•Updated Apr 14, 2023Apr 14, 2023
Iterative-MPC-DHOCBF
Public
"Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, K. Sreenath and C. Belta http://arxiv.org/pdf/2210.04361.pdf
MATLAB
•3•12•0•0•Updated Mar 11, 2023Mar 11, 2023
quadruped_nmpc_dcbf_duality
Public
C++
•18•111•0•0•Updated Jan 2, 2023Jan 2, 2023
GenLoco
Public
Python
•
Apache License 2.0
•31•282•3•0•Updated Sep 13, 2022Sep 13, 2022
Lane-Change-CBF
Public archive
Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change https://arxiv.org/abs/2103.12382
MATLAB
•16•103•0•0•Updated Jul 23, 2022Jul 23, 2022
Quad-Load-Offset
Public
"Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939
MATLAB
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MIT License
•0•6•1•0•Updated Mar 7, 2022Mar 7, 2022
Quad-Load-Pulley
Public archive
"Geometric Control and Differential Flatness of a Quadrotor UAV with Load Suspended from a Pulley" by J. Zeng, P. Kotaru and K. Sreenath https://ieeexplore.ieee.org/document/8815173
MATLAB
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MIT License
•2•6•0•0•Updated Mar 7, 2022Mar 7, 2022
Quad-Load
Public
Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.
MATLAB
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MIT License
•1•16•0•0•Updated Mar 7, 2022Mar 7, 2022