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
- A distributed whole-body model predictive control for quadruped robots☆90Apr 22, 2025Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆61May 14, 2024Updated 2 years ago
- 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
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆94Sep 10, 2024Updated 2 years ago
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆28Sep 28, 2023Updated 3 years ago
- ☆193Oct 27, 2022Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆55Jun 7, 2024Updated 2 years ago
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 4 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆85Aug 3, 2026Updated 2 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆28Feb 27, 2024Updated 2 years ago
- Code for our ICRA 2024 paper on learning diverse skills☆26Apr 6, 2024Updated 2 years ago
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆29Dec 15, 2022Updated 3 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆55Jun 1, 2023Updated 3 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆81Dec 9, 2024Updated last year
- Example binary running the Pronto state estimator on the ANYmal B robot☆32Mar 28, 2023Updated 3 years ago
- Simulink-based whole body controllers for humanoid robots.☆156Dec 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☆383Updated this week
- IROS 2018 Software Tutorial on XBotControl☆10Oct 16, 2019Updated 6 years ago
- Towards better athletic intelligence☆189Apr 18, 2026Updated 5 months ago
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- RL code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆33Oct 31, 2023Updated 2 years ago
- ☆52Feb 7, 2022Updated 4 years ago
- Optimal Control for Switched Systems☆1,527Sep 29, 2026Updated 2 weeks ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆89Jun 17, 2025Updated last year
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆351Mar 28, 2025Updated last year
- A common interface and utilities for implementing visualizers for Pinocchio in C++.☆11Feb 12, 2025Updated last year
- Code for various extended Kalman filter state estimation methods for Cassie.☆44May 30, 2019Updated 7 years ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆79May 31, 2023Updated 3 years ago
- Efficient optimal control solvers for robotic systems.☆312Dec 22, 2022Updated 3 years ago
- Serverless GPU API endpoints on Runpod - Get Bonus Credits • AdSkip the infrastructure headaches. Auto-scaling, pay-as-you-go, no-ops approach lets you focus on innovating your application.
- Robot control with Traditional control and Optimal control and Learning-based control☆10Oct 9, 2022Updated 4 years ago
- ☆27Feb 18, 2020Updated 6 years ago
- Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can …☆29May 21, 2026Updated 4 months ago
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- An Open Source Quadruped-Robot for Simulating and Real Environment☆197May 15, 2023Updated 3 years ago
- ☆118Updated this week
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆265Dec 28, 2025Updated 9 months ago