misc.md

Random Notes

Affordable Robots

• Thormang
• Nao (~5.5k USD) (25 DoF)
• KHR-3HV (~ 2.6k USD)

Simulation resources

Thormang (2019) (29 DoF)

• https://github.com/thor-mang
• https://github.com/ROBOTIS-GIT/ROBOTIS-THORMANG-OPC

Valkyrie R5 (2017)

• https://github.com/osrf-migration/srcsim-wiki
• https://github.com/osrf/srcsim
• https://github.com/osrf/srcsim_docker/tree/master/docker

Atlas (2016) (37 DoF)

• https://github.com/osrf/drcsim
• https://github.com/osrf-migration/drcsim-wiki

Whole body controllers

Responsible for converting foot and body / center of mass trajectories into actual joint torques

• https://github.com/poftwaresatent/whole_body_control
• https://github.com/poftwaresatent/stanford_wbc
• https://bitbucket.org/ihmcrobotics/ihmc_ros
• ControlIt!

Mathematical tools

General robot modeling and optimal control

• https://github.com/RobotLocomotion/drake

Kinematics & Dynamics

• https://github.com/ANYbotics/kindr

Trajectory optimization

Responsible for creating foot and body / center of mass trajectories given start point and end goal

• https://github.com/ethz-adrl/towr

Other tools

Motion / Task controlling

• https://github.com/leggedrobotics/free_gait

Visualization

• http://wiki.ros.org/xpp
• https://github.com/RobotLocomotion/director