pynoddy is a python package to write, change, and analyse kinematic geological modelling simulations performed with Noddy.
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Updated
Apr 21, 2023 - Python
pynoddy is a python package to write, change, and analyse kinematic geological modelling simulations performed with Noddy.
Python description of the Kinematic Bicycle Model with an animated example.
All Terrain Autonomous Quadruped
Custom navigation stack for Turtlebot3. Includes Fast SLAM, EKF SLAM, several path planners, and a model predictive path integral controller.
Robotics Projects
Controlling a nonholonomic robot to follow a trajectory with a modified PID Controller.
Code for IROS 2021 paper: Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations.
Python package for inverse kinematic calculations of hybrid serial parallel robots
Autonomously drive a car on a track using a kinematic model.
Implementation of feature-based EKF SLAM with unsupervised learning in C++ from scratch
rscuad simple framework for humanoid robot
Kinematic and dynamic modelling of a cable-driven parallel robot used to control an inverted pendulum. Development of a controller to stabilise the pendulum in its vertical unstable position by means of linear quadratic regulators. Validation of the controller in simulation, so it can maintain the equilibrium position despite the appearance of u…
Matlab scripts to compute the kinematics of a large number of robots w/ plots
R package for simulating and analyzing the kinematics of 2D and 3D linkage mechanisms
Repo for my ongoing open source project to build a cross platform motion simulation software
Mathematical Modeling of Robots Toolbox
This GitHub repository contains the homework assignments completed as part of the course EE-CE-CS-366-366-380: Introduction to Robotics. The assignments include four different blocks: Vision Block, Forward Kinematics Block, Inverse Kinematics Block, Control Block, and Trajectory Block. Each block is a crucial aspect of robotics
Analyzing passive dynamic walking behavior in the context of both falling and non-falling trials, simulating slipping and tripping scenarios.
A path planning and control method is developed for the scenario of a non-holonomic robot serving food in a restaurant.
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