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This toolbox makes use of Linear Parameter Varying (LPV) formulation together with Linear Matrix Inequalities (LMI) to design Variable Impedance Controllers (VIC) from user demonstrations of a task, considering its preferences regarding compliancy

IRI C++ Dynamixel Bus Communication Library

Set of communication libraries, including simple RS232, CAN, sockets (both in server and client modes) and others.

Tool to download firmware to STM32 processors using the built-in bootloader.

Firmware to read battery information through SMBUS

Firmware for the smart battery charger hardware.

ROS metapackage for packages specific to the Darwin robot.

Firmware for the CM730 controller board of the Darwin OP robot.

Firmware for the CM510 controller of the Bioloid robot

C++ driver for the Tibi and Dabo head. It includes the control of the pan, tilt and roll motors and the facial expressions.

IRI C++ Dynamixel Motor Control Library

Firmware for the Bioloid expansion board based on AVR processors.

Firmware for the BeagleBone Black cape to control the Bioloid robot.

Hardware abstraction layer for the STM32 processor families F0, F1, F2, F3, F4, L0 and L1.

Tool to download firmware to robotis devices, including dynamixel servos and the cm510 and cm730 controllers. Tool to download the motion files (in either .bin or .mtn format) to the cm510 controller.

Class to simplify and unify the use of the simple action server from ROS

A version of RTKLIB optimized for single and dual frequency low cost GPS receivers, especially u-blox receivers. It is based on RTKLIB 2.4.3 and is kept reasonably closely synced to that branch. Documentation for RTKLIB is available at rtklib.com. This software is provided “AS IS” without any warranties of any kind so please be careful, especially if using it in any kind of real-time application. Binaries and tutorials for this code, and sample GPS data sets at :

Low level driver for the BNO055 IMU unit from Bosch