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This is an open-source python package that shows how to compute the feasible region, i.e. the extension of the well known support region to include joint-torque limits constraints of legged robots: https://github.com/orsoromeo/jet-leg


a Rviz tool for visualizing locomotion-related geometric objects such as waypoint markers, trajectories, 2D support regions and 3D feasibility constraints: https://github.com/iit-DLSLab/locomotion-viewer/