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Edge-detection using the elevation map

This repository performs segmentation of convex patches and detection of edges based on the input elevation map:


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:


a Rviz tool for visualizing locomotion-related geometric objects such as waypoint markers, trajectories, 2D support regions and 3D feasibility constraints: