ArmarX KIT

The robot development environment (RDE) ArmarX aims at providing an infrastructure for developing a customized robot framework that enables the realization of distributed robot software components.

Co-Fusion UCL

Co-Fusion is a dense SLAM system
that takes a live stream of RGB-D images as input and segments the scene
into different non-static objects.

CPR Load Support EPFL

This ROS package provides a controller for a robotic arm to support a heavy load at a expected height and lower it down (when it released) to a user-friendly height and carry it around.
Lifting from the Deep UCL

Convolutional 3D Pose Estimation from a Single Image. Created by Denis Tome and Chris Russell and Lourdes Agapito.

Load Share Estimation EPFL

This ROS package is used to compute the load share of an object being supported by a robot and a third party (such as a person).

Ridgeback UR5 Controller EPFL

This ROS package provides an admittance controller for mobile-base robots with robotic arms.
Task Adaptation EPFL

This ROS package provides a task-adaptive behaviour for robotic arms using switching dynamical systems.
Lift Help Predictor EPFL

This ROS package provides a a collection of tools to gather, visualize, and analyze human joint data and subsequently perform on-line detection of need for help during object lifting tasks.
MaskFusion UCL

This repository contains MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that recognizes, segments and assigns semantic class labels to different objects in the scene, while tracking and reconstructing them even when they move independently from the camera.
xR-EgoPose UCL

The xR-EgoPose Dataset is a dataset of ~380 thousand photo-realistic egocentric camera images in a variety of indoor and outdoor spaces. The code contained in this repository is a PyTorch implementation of the data loader with additional evaluation functions for comparison.
Expert System for Robot Design KIT

The expert system supports the systematic mechatronic design of robot components. Based on user requirements, the program generates design solutions for robot components. Currently, the design of sensor-actuator-controller units for robot joints and robot hands are supported. The ontological knowledge base of the system includes, among others, the knowledge gained during the design of ARMAR-6 in the SecondHands project and will be continuously expanded.
RobotUnit for real-time robot control KIT LINK

The RobotUnit offers real-time control for robotic systems. It features a two-layered controller architecture and supports centralized, synchronous control. The RobotUnit was mainly developed for the control of the humanoid robot ARMAR-6, but is general in concept. Therefore, it is already used to control other non-humanoid robotic systems. Core design principles are low latency, robustness, flexibility and strict separation of the real-time control from non-real-time parts, such as network communication.