ADVRHumanoids / wb_mpc_centauroLinks
Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"
☆41Updated 2 months ago
Alternatives and similar repositories for wb_mpc_centauro
Users that are interested in wb_mpc_centauro are comparing it to the libraries listed below
Sorting:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆22Updated last month
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆40Updated 2 years ago
- ☆22Updated 3 weeks ago
- Quadruped state estimation using kalman☆13Updated 2 years ago
- Quaternion Model Predictive Control for Legged Robots☆58Updated 8 months ago
- ☆38Updated 7 months ago
- Humanoid loco-manipulation controller☆31Updated 4 months ago
- A collection of MPC walking scripts with various models☆37Updated 4 months ago
- ICRA 2022 paper☆39Updated 9 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆26Updated 2 years ago
- ☆33Updated 3 years ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- ☆27Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- ☆16Updated 3 months ago
- ☆13Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆37Updated last week
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆26Updated 3 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 6 months ago
- Demo scripts to quickly start with Crocoddyl☆19Updated 11 months ago
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 months ago
- ☆22Updated last year
- RobCoGen code generator for any quadruped robot from the xacro description☆14Updated 4 years ago
- C++ library for optimization-based control of redundant robots☆57Updated 2 weeks ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆68Updated last year
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆50Updated last year