A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulations and solver backends.

LocoMan: Advancing Versatile Quadrupedal Dexterity with Lightweight Loco-Manipulators (IROS'24)

Humanoid loco-manipulation controller

Learning LocoManipulation Skills vis Reinforcement Learning using Reconfigurable Overconstrained Robotic Limbs

Implementation of the ICRA 2020 Locomanipulation Paper: "Finding Locomanipulation Plans Quickly in the Locomotion Constrained Manifold"

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Copied from Heterogeneous Pretrained Transformer (HPT), adapted for training with LocoMan

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Config files for my GitHub profile.

Logistik Tool

Various environments for training quadrupeds in sim (checkout branches)

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CPG-based Loco-manipulation control with robot orientation control of dung beetle-like robot and quadruped robot

LoCoMan website

FORTNITE only

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A trainer-powered wellness platform that empowers trainers to build personalized product bundles, manage clients, and drive recurring revenue through goal-based wellness programs with Shopify integration. · Built with Manus

Computing the block elements of the Fundamental Loco-Manipulaiton Matrix in canonical form (cFLMM)

Project Website

Config files for my GitHub profile.

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Config files for my GitHub profile.

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Simulation of Locomanipulation

utility functions for locomanipulation modules.

Gramming yer loco!

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A fitness and wellness platform connecting trainers with clients. Features include catalog browsing, bundle management, order tracking, trainer dashboards, and client management with multi-platform support for iOS, Android, and Web. · Built with Manus

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