redundancy-resolution 开源项目推荐（7 个）

Walid-khaled /7DOF-KUKA-Linear-Axis-Forward-and-Inverse-Kinematics

本仓库给出了 KUKA 线性轴 7-DOF 机器人通过冗余解析实现正运动学和逆运动学的方法。冗余解析包括三种方法：基于雅可比（阻尼最小二乘与加权伪逆）、零空间以及任务增强。

et0803 /memikrr

Kinematic redundancy resolution for replicating natural posture of human arm by performing constrained muscle-effort minimization (considering wrist pose and range of joint motion) with a human arm musculoskeletal model and OpenSIM C++ API.

unisa-acg /moveit_dp_redundancy_resolution

ROS/MoveIt! extension for redundancy resolution with dynamic programming. Please cite: Ferrentino, E.; Salvioli, F.; Chiacchio, P. Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation. Robotics 2021, 10, 42. https://doi.org/10.3390/robotics10010042

Bhanu-danda /Food-delivery-database-design

🍕 Normalized (3NF) relational database schema for a food delivery application. Features core e-commerce data mapping, structured entities, and a Lucidchart ER diagram.

Gonzalez-Annan /reactionless-compliance

A Human-in-the-Loop Benchmark of Redundancy Resolution and Contact-Safety Limits for Teleoperated Free-Floating Space Manipulators

ybkimws-source /posefork

One reach target, many postures. Behavioral diversity for a redundant 7-DOF arm (Unitree G1), from massively parallel RL — no human demos.

zhach01 /MuscleDrivenArm

Muscle-activation control of a planar two-link, six-muscle human arm. Classical physics-based controllers on main; learning-based controllers (MotorNet, synergies, ANFIS, BC, MPC) with trained models on the learning branch.