I am involved in the development of the following softwares:

  • The Stack of Tasks is a framework to control humanoid robots. It is used in the Gepetto group to test various control laws based on Generalized Inverse Kinematics or Inverse Dynamics.
  • A walking pattern generator called jrl-walkgen which is used in most of the papers available in the publications section
  • Metapod: a meta-programming based rigid body dynamics library.

All the softwares are available under the BSDv2 or LGPL license for dissemination.

Please be aware that this code is mostly done for research, and has been tested only in the context described in the publications.