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Controllers

Simulink controllers for humanoid robots.

List of available controllers:

  • fixed-base-joints-torque-control [README]
  • floating-base-balancing-position-control [README]
  • floating-base-balancing-torque-control [README]
  • floating-base-balancing-torque-control-with-simulator [README]
  • floating-base-jerk-control [README]

Plotting Utilities

Usage

See corresponding READMEs, and check the documentation or the wiki of the repo.