Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"
☆43Apr 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☆70Jul 5, 2024Updated last year
- A distributed whole-body model predictive control for quadruped robots☆84Apr 22, 2025Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆80Sep 10, 2024Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆58May 14, 2024Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- ☆191Oct 27, 2022Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆50Jun 7, 2024Updated last year
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 4 years ago
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- whole body control QP solver with full friction cones☆14Nov 5, 2024Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆82Apr 22, 2026Updated 2 weeks ago
- Code for our ICRA 2024 paper on learning diverse skills☆26Apr 6, 2024Updated 2 years ago
- Towards better athletic intelligence☆185Apr 18, 2026Updated 2 weeks ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆53Jun 1, 2023Updated 2 years ago
- Bare Metal GPUs on DigitalOcean Gradient AI • AdPurpose-built for serious AI teams training foundational models, running large-scale inference, and pushing the boundaries of what's possible.
- RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆32Oct 31, 2023Updated 2 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆80Dec 9, 2024Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Dec 15, 2022Updated 3 years ago
- Optimal Control for Switched Systems☆1,382Mar 25, 2026Updated last month
- Simulink-based whole body controllers for humanoid robots.☆153Dec 20, 2024Updated last year
- CENTAURO model for simulation☆11Apr 24, 2020Updated 6 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆297Dec 27, 2025Updated 4 months ago
- IROS 2018 Software Tutorial on XBotControl☆10Oct 16, 2019Updated 6 years ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆72May 31, 2023Updated 2 years ago
- Bare Metal GPUs on DigitalOcean Gradient AI • AdPurpose-built for serious AI teams training foundational models, running large-scale inference, and pushing the boundaries of what's possible.
- Example binary running the Pronto state estimator on the ANYmal B robot☆30Mar 28, 2023Updated 3 years ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆456Mar 31, 2026Updated last month
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆26Feb 27, 2024Updated 2 years ago
- ☆17Feb 15, 2025Updated last year
- Robot control with Traditional control and Optimal control and Learning-based control☆10Oct 9, 2022Updated 3 years ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆226Dec 28, 2025Updated 4 months ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆89Jun 17, 2025Updated 10 months ago
- A common interface and utilities for implementing visualizers for Pinocchio in C++.☆11Feb 12, 2025Updated last year
- ☆47Sep 29, 2024Updated last year
- Bare Metal GPUs on DigitalOcean Gradient AI • AdPurpose-built for serious AI teams training foundational models, running large-scale inference, and pushing the boundaries of what's possible.
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆329Mar 28, 2025Updated last year
- Code for various extended Kalman filter state estimation methods for Cassie.☆45May 30, 2019Updated 6 years ago
- ☆51Feb 7, 2022Updated 4 years ago
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆157Sep 9, 2025Updated 7 months ago
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- [CoRL 2022] Deep Whole-Body Control: Learning a Unified Policy for Manipulation and Locomotion☆371Jan 17, 2024Updated 2 years ago