Obtaining the best coefficients of Inverse Dynamics Controller, for a dynamical system, with Optimization Algorithms.

A Simulation Model for trajectory Planning in MATLAB and Simulink to generate desired trajectory and joint torques using Inverse Dynamic Control aproach.

Implementation of an assist-as-needed controller in the joint space of gait based on deviations of the ankle.

This repository contains all ROS2 packages used for the simulation phase of a master’s thesis project on a sensor fusion application, implemented with an Extended Kalman Filter, applied to tray transportation. The objective is to estimate the pose of the object placed on the tray.