Jul 7, 2023Humanoid Walk EngineAn omnidirectional walk engine for a humanoid robot using a combination of inverse kinematics and a quintic splines for smooth and efficient walking.Read more →
Jan 1, 2024Humanoid LocalisationLocalisation of humanoid robots on a soccer field for RoboCup competitions. Github
Nov 11, 2024Humanoid State EstimationFloating-base state estimation for a humanoid robot using Mahony filter and kinematic odometry. Github
Jan 1, 2023Onshape to URDF pipelineA pipeline to generate URDF file of NUgus robot from Onshape. Github
Jan 1, 2023tinyodetinyode is a lightweight C++ library which provides various ordinary differential equation solvers. Github
Jan 1, 2023RoboCup computer visionA vision module for detecting and estimating the Cartesian position of Balls, Goals, Robots, Field Intersections (X, L, T) using YoloV8n for the RoboCup competition. Github
Jan 1, 2023tinyroboticstinyrobotics is a lightweight C++ library which provides core robotics algorithms for kinematics and dynamics. Github
Jan 1, 2023tinympctinympc is a lightweight C++ library that implements general linear and non-linear model predictive control (MPC). Github
