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@ROAM-Lab-ND Robotics, Optimization, and Assistive Mobility Lab @ Notre Dame

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    12 repositories

    • generalized_rbda

      Public
      Library of rigid-body dynamics algorithms for systems with kinematic loops.
      C++
      •
      MIT License
      •6•54•8•1•Updated Jun 18, 2026Jun 18, 2026

    • inertia_identification_minimal_examples

      Public
      MATLAB
      •3•23•0•0•Updated Nov 26, 2025Nov 26, 2025

    • roam_lib

      Public
      Miscellaneous MATLAB utilities
      MATLAB
      •0•0•0•0•Updated Nov 25, 2025Nov 25, 2025

    • SlidingWindowGaitEstimation

      Public
      MATLAB
      •
      MIT License
      •0•0•0•0•Updated Jul 29, 2025Jul 29, 2025

    • spatial_v2_extended

      Public
      Extended version of Featherstone's spatial_v2 package
      MATLAB
      •33•70•1•1•Updated Mar 24, 2025Mar 24, 2025

    • CAFE-MPC

      Public
      C++
      •
      MIT License
      •9•64•0•0•Updated Oct 26, 2024Oct 26, 2024

    • Template-Model-Optimization

      Public
      This repository houses the framework for optimizing template models to track CoM kinematics of steady state human walking.
      MATLAB
      •1•1•0•0•Updated Aug 15, 2024Aug 15, 2024

    • MiniCheathModels

      Public
      Kinematic tree, whole-body dynamics, SRB dynamics of MIT Mini Cheath, and generation of C++ interface
      C++
      •3•2•0•0•Updated Apr 15, 2024Apr 15, 2024

    • HS-DDP-MATLAB

      Public
      Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an application to quadruped b…
      MATLAB
      •
      MIT License
      •5•14•0•0•Updated Jun 23, 2023Jun 23, 2023

    • GCWF

      Public
      Verifying Contact Wrench Feasibility via Geometrical Approach
      C++
      •0•1•0•0•Updated Jan 25, 2023Jan 25, 2023

    • MHPC-HSDDP

      Public
      MATLAB
      •
      MIT License
      •2•8•0•0•Updated Sep 9, 2021Sep 9, 2021

    • Cheetah3-Impedance-Control

      Public
      Standing-up control of Cheetah3 and impedance control of each leg indepdently.
      C
      •0•2•0•0•Updated Apr 14, 2021Apr 14, 2021
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