ADVRHumanoids / wb_mpc_centauro
Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped"
☆32Updated 3 months ago
Related projects: ⓘ
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆37Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆57Updated 2 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆29Updated last year
- ☆28Updated 2 years ago
- A collection of MPC walking scripts with various models☆18Updated 2 months ago
- ☆12Updated last week
- Quadruped state estimation using kalman☆11Updated last year
- ☆23Updated 2 years ago
- ☆12Updated last year
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆16Updated last year
- ICRA 2022 paper☆28Updated 3 weeks ago
- ☆14Updated last year
- ☆10Updated 2 years ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆22Updated last week
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆28Updated 3 years ago
- Whole-Body Controller for quadrupedal robots with soft contacts constraints.☆12Updated last month
- ☆30Updated last year
- ☆43Updated this week
- ☆39Updated this week
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆27Updated last year
- Globally Safe Model-free Exploration of Dynamical Systems☆28Updated 3 months ago
- ☆43Updated 2 years ago
- ☆83Updated last year
- Generic whole-body controller based on quadratic programming☆13Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated last year
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆25Updated 3 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆16Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆18Updated 4 months ago
- Sampling based control for kino-dynamic contact aware motion planning.☆16Updated 3 years ago