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Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
Controller implementations and plugins for communicating between the whole body controller libraries developed at ISIR, ocra-recipes, and the iCub Whole Body Interface, WBI, libraries.