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Codes

1. Humanoid Robot Kinematics & Dynamics Computation Library in MATLAB, Python and C++. 
    RoboMat
    RoboPy
    RoboCpp

Showcase videos of the codes (RoboCpp) for Hubo II+ foot location correction

Hubo Home Pose Calibration Module Test -- Init position

Hubo Motion Correction Module Test -- Init orientation

Hubo Motion Correction Module Test -- Grasping Position


Showcase videos of the codes (RoboCpp) for DRC-Hubo fine control of grippers' locations

position offset fine motion control

orientation offset fine motion control


Showcase videos of the codes (RoboPy) for DRC-Hubo backward walking

DRC-Hubo Backward Walking using Robopy with RobotSim and Hubo-Ach


Showcase videos of the codes (RoboMat) for ladder-climbing simulation

climbing_ladder_75deg_20cm

Hubo Footstep Planning and Walking Test using RoboMat in MATLAB


2. Hubo II+ Simulation Models for Gazebo and V-REP environment

Valve turning with vertical waist motion on Hubo in V-REP


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