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    • Library of rigid-body dynamics algorithms for systems with kinematic loops.
      C++
      MIT License
      65211Updated Jun 4, 2026Jun 4, 2026
    • MATLAB
      32300Updated Nov 26, 2025Nov 26, 2025
    • roam_lib

      Public
      Miscellaneous MATLAB utilities
      MATLAB
      0000Updated Nov 25, 2025Nov 25, 2025
    • MATLAB
      MIT License
      0000Updated Jul 29, 2025Jul 29, 2025
    • Extended version of Featherstone's spatial_v2 package
      MATLAB
      346811Updated Mar 24, 2025Mar 24, 2025
    • CAFE-MPC

      Public
      C++
      MIT License
      96000Updated Oct 26, 2024Oct 26, 2024
    • This repository houses the framework for optimizing template models to track CoM kinematics of steady state human walking.
      MATLAB
      1100Updated Aug 15, 2024Aug 15, 2024
    • Kinematic tree, whole-body dynamics, SRB dynamics of MIT Mini Cheath, and generation of C++ interface
      C++
      3200Updated Apr 15, 2024Apr 15, 2024
    • 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
      51400Updated Jun 23, 2023Jun 23, 2023
    • GCWF

      Public
      Verifying Contact Wrench Feasibility via Geometrical Approach
      C++
      0100Updated Jan 25, 2023Jan 25, 2023
    • MATLAB
      MIT License
      2800Updated Sep 9, 2021Sep 9, 2021
    • Standing-up control of Cheetah3 and impedance control of each leg indepdently.
      C
      0200Updated Apr 14, 2021Apr 14, 2021
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