The Whole-Body Control Framework

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The Whole-Body Control framework jointly developed at Stanford University and The University of Texas at Austin provides advanced control for fixed base manipulators and is currently running on the the Meka A2 Arm and the Dreamer/Meka Humanoid robot.

The code repository is hosted on Github, please go to

The Whole-Body Control Framework Web Site

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Advanced End Users, Engineering, Science/Research

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