Cartesian-Impedance-Controller
by matthias-mayr · GitHub
A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS 2 & 1 bindings.
⭐ Stars
333
🍴 Forks
49
📜 License
BSD-3-Clause
Commercial use OK📅 Created
2022
🔄 Last commit
2 mo ago
🏷️ Category
compliant-control
💻 Language
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📈 Star history
2026-07-202026-07-21
📄 About
A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS 2 & 1 bindings.
❓ Frequently asked questions
What is Cartesian-Impedance-Controller?
A C++ implementation of Cartesian impedance control for torque-controlled manipulators with ROS 2 & 1 bindings.
Is Cartesian-Impedance-Controller open source?
Cartesian-Impedance-Controller is an open-source project. It is released under the BSD-3-Clause license.
Is Cartesian-Impedance-Controller free?
Yes. Cartesian-Impedance-Controller is free and open source — you can use, modify and self-host it.
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