Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"
☆46Apr 7, 2025Updated last year
Alternatives and similar repositories for wb_mpc_centauro
Users that are interested in wb_mpc_centauro are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆72Jul 5, 2024Updated 2 years ago
- ☆192Oct 27, 2022Updated 4 years ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆96Sep 10, 2024Updated 2 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆55Jun 7, 2024Updated 2 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆61May 14, 2024Updated 2 years ago
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- A distributed whole-body model predictive control for quadruped robots☆91Apr 22, 2025Updated last year
- Casadi based walking code for quadrupeds and quadruped manipulators using Trajectory Optimization☆10Dec 16, 2024Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 3 years ago
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆35Jul 13, 2026Updated 3 months ago
- Code for our ICRA 2024 paper on learning diverse skills☆26Apr 6, 2024Updated 2 years ago
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆29Sep 28, 2023Updated 3 years ago
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 4 years ago
- Towards better athletic intelligence☆190Apr 18, 2026Updated 6 months ago
- Simulink-based whole body controllers for humanoid robots.☆156Dec 20, 2024Updated last year
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆387Oct 18, 2026Updated 2 weeks ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆29Feb 27, 2024Updated 2 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- Our deployment code for QRC in IROS2024.🥇☆13Mar 11, 2026Updated 7 months ago
- Optimal Control for Switched Systems☆1,536Sep 29, 2026Updated last month
- ☆129Jan 2, 2023Updated 3 years ago
- ☆15Apr 17, 2026Updated 6 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆80May 31, 2023Updated 3 years ago
- Representation-Free Model Predictive Control for Dynamic Quadruped☆241Feb 28, 2025Updated last year
- End-to-end encrypted cloud storage - Proton Drive • AdSpecial offer: 40% Off Yearly / 80% Off First Month. Protect your most important files, photos, and documents from prying eyes.
- Quaternion Model Predictive Control for Legged Robots☆79Sep 11, 2025Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆29Dec 15, 2022Updated 3 years ago
- an intuitive optimization tool tailored to robotics, based on CasADi☆86Aug 3, 2026Updated 3 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆172Sep 9, 2025Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆81Dec 9, 2024Updated last year
- Model Predictive Control for Franka Panda Arm☆71Apr 16, 2023Updated 3 years ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆29Oct 31, 2022Updated 4 years ago
- IROS 2018 Software Tutorial on XBotControl☆10Oct 16, 2019Updated 7 years ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆90Jun 17, 2025Updated last year
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- ☆36Feb 7, 2022Updated 4 years ago
- The project of the body estimation for the wheel-legged robot☆16Nov 18, 2023Updated 2 years ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆95Jul 8, 2026Updated 3 months ago
- An IsaacLab extension by DLS for performing trash collection with legged robots☆27Aug 29, 2026Updated 2 months ago
- CENTAURO model for simulation☆10Apr 24, 2020Updated 6 years ago
- RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆35Oct 31, 2023Updated 3 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆56Jun 1, 2023Updated 3 years ago