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This is a curated list of "Embodied AI or robot with Large Language Models" research. Watch this repository for the latest updates! 🔥
Calculation of forward and inverse kinematics, Jacobian matrices, dynamic modeling, trajectory planning and geometric calibration for robotic manipulators
Reinforcement learning using rlkit, UR5, Robotiq gripper on ROS(Robot Operating System)
Robotics research demonstrating reliability and robustness in the real world (continuously updated)
Code for keypoint-based visual servo IROS2020
Matlab scripts to compute Euler-Lagrange dynamic models of a large number of robot manipulators.
🤖 Simulate and control two Universal Robots arms simultaneously using NVIDIA Isaac Sim. Explore real-time control, collision avoidance, and path planning in a digital twin environment.
This is a project based on PID control of an industrial manipulator: Kuka KR-16. The complete manipulator assembly is modelled in Solidworks. The CAD model is used in Simechanics environment in MatLab/Simulink with PID controllers for motion control.
Autonomy: Mobility and Manipulation @ CU-ICAR
This project focuses on training robots to grasp everyday objects accurately. We gather a unique point cloud dataset using an iPhone's LiDAR and process it with Polycam. We develop a PointNet model from scratch to perform multi-class classification and part-segmentation, guiding the robot on where to grasp objects.
Robust controller interface to Kinova-gen3
ABB 140 Robot Draws a Given Picture
This repository showcases my project focused on implementing a pick and place operation using a 9 Degrees of Freedom (DOF) mobile manipulator robot in Gazebo, along with Rviz visualizations. The application is geared towards cleaning in compact and cluttered environments.
PyTorch implementation of the paper Overcoming Exploration in Reinforcement Learning with Demonstrations in surgical robot manipulation tasks.
Solving the inverse kinematics problem of a 3 Link Planar Manipulator using neural networks.
Workshop resources for simulating UR manipulators with Nvidia Isaac Sim and ROS 2 for ROSCon ES 2024.
Implementation and simulation in MATLAB/Simulink of an Iterative Learning Control (ILC) algorithm for trajectory tracking of a 2-DOF planar manipulator. The repository also includes kinematics and dynamics for a 6-DOF anthropomorphic arm with spherical wrist, developed during the thesis work.
Six degrees-of-freedom (6DOF) dynamic modeling and adaptive/robust control of an anthropomorphic manipulator arm designed in Simulink environment.
Simple ros2 grasp service
ManiDyn is a MATLAB toolbox for symbolic modelling of serial-link robot Manipulators.
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