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@ICube-Robotics

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tpoignonec/README.md

Hello! hi

I'm a roboticist 🤖⚙️🕹️ and c++/python/ros2 developer, currently with the ICube laboratory in Strasbourg.

The majority of repos here are related to research projects on medical robotics, manipulation, and haptics.

There are also plenty of toy projects 😇

Currently, I work on:

  • Non-linear model predictive control (NMPC) for robotic manipulation;
  • Variable impedance control and associated passivity challenges;
  • Learning for variable impedance control;
  • Backlash modeling and compensation for flexible endoscopic robots.

Should you need to contact me:

Main languages:

Langs

Main libs & frameworks:

Tools + CasADI and ACADOS, but I didn't find the right icons, yet ^^

Main tools:

Tools

Currently learning:

Tools

Whishlist of things to learn next time I have time:

Tools

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  1. ICube-Robotics/forcedimension_ros2 ICube-Robotics/forcedimension_ros2 Public

    Drivers for Force Dimension sdk compatible haptic interfaces for ros2_control

    C++ 14 8

  2. ft_tools_ros2 ft_tools_ros2 Public

    Wrench estimation and calibration of F/T sensors for ROS2 applications.

    C++ 4

  3. ICube-Robotics/acados_vendor_ros2 ICube-Robotics/acados_vendor_ros2 Public

    Ros2 vendor for the Acados NMPC solver.

    CMake 11 4

  4. ICube-Robotics/acados_solver_ros2 ICube-Robotics/acados_solver_ros2 Public

    Helper packages to use the Acados solver for non-linear optimization in ROS2 applications.

    C 12

  5. backlash_simulation_examples backlash_simulation_examples Public

    Basic backlash simulation scripts with examples

    Jupyter Notebook 1 1

  6. ICube-Robotics/cartesian_controllers_ros2 ICube-Robotics/cartesian_controllers_ros2 Public

    Set of cartesian controllers for ros2_control

    C++ 6