UMich-BipedLab / CLF_reactive_planning_system

This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.

Date Created 2021-06-10 (3 years ago)

Commits 3 (last one 2 years ago)

Stargazers 54 (0 this week)

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Forks 12

License agpl-3.0

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RepositoryStats indexes 579,555 repositories, of these UMich-BipedLab/CLF_reactive_planning_system is ranked #436,644 (25th percentile) for total stargazers, and #331,043 for total watchers. Github reports the primary language for this repository as C++, for repositories using this language it is ranked #24,205/31,036.

UMich-BipedLab/CLF_reactive_planning_system is also tagged with popular topics, for these it's ranked: robotics (#951/1235), robot (#238/295), motion-planning (#105/143), path-planning (#75/112)

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Homepage URL: https://arxiv.org/abs/2108.06699

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updated: 2024-07-27 @ 03:39pm, id: 375820197 / R_kgDOFmaPpQ