Various Models for MIT Mini Cheetah

This package incorporates a few models (full-order and reduced-order) of the MIT Mini Cheath Robots.

Features

• Kinematic tree built using spatial_v2_extended (extension of Feathersone's algorithm)
• Whole-Body KKT Dynamics
• Single-Rigid-Body Dynamics
• Variations of all models above that incoporate motor rotors
• Functions to quickly generate C++ interfaces, including forward kinematics, dynamics, and first-order dynamics derivatives (using automatic differentiation)

Dependencies

• spatial_v2_extended(branch: CasADiConflictFree)
• Casadi
• Robotics System Toolbox(optional for the visulization )