Representation-Free Model Predictive Control for Dynamic Quadruped
☆235Feb 28, 2025Updated last year
Alternatives and similar repositories for RF-MPC
Users that are interested in RF-MPC are comparing it to the libraries listed below
Sorting:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- LTV MPC for Quadruped Locomotion☆17Oct 31, 2023Updated 2 years ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆159Dec 14, 2022Updated 3 years ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆912Jan 17, 2026Updated last month
- An open source implementation of MIT Cheetah 3 controllers☆804Dec 5, 2022Updated 3 years ago
- Work done in IHMC Robotics since Aug 2019☆61Sep 8, 2022Updated 3 years ago
- ☆24Aug 3, 2020Updated 5 years ago
- MIT mini cheetah quadruped robot simulated in pybullet environment using ros.☆349Jun 14, 2022Updated 3 years ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,594Feb 13, 2025Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- mpc and wbc for mini cheetah in pybullet☆57Nov 20, 2020Updated 5 years ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆312Mar 28, 2025Updated 11 months ago
- Extended version of Featherstone's spatial_v2 package☆68Mar 24, 2025Updated 11 months ago
- ☆189Oct 27, 2022Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Sep 12, 2021Updated 4 years ago
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆1,046Apr 17, 2023Updated 2 years ago
- Optimal Control for Switched Systems☆1,288Feb 21, 2026Updated last week
- Analytical formula of the wrench friction cone for surface contacts☆25May 4, 2020Updated 5 years ago
- Quadruped control architecture☆87Dec 27, 2021Updated 4 years ago
- A distributed whole-body model predictive control for quadruped robots☆77Apr 22, 2025Updated 10 months ago
- Simulink-based whole body controllers for humanoid robots.☆149Dec 20, 2024Updated last year
- Policy Regularized Model Predictive Control simulated by matlab☆16Apr 8, 2024Updated last year
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- qpSWIFT is a light-weight sparse quadratic programming solver☆156Mar 24, 2023Updated 2 years ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆14Jun 23, 2023Updated 2 years ago
- Deep RL for MPC control of Quadruped Robot Locomotion☆914Jul 18, 2025Updated 7 months ago
- ☆117Jan 2, 2023Updated 3 years ago
- Code accompanying the paper "Learning Agile Robotic Locomotion Skills by Imitating Animals"☆1,389Mar 24, 2023Updated 2 years ago
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 3 years ago
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Apr 8, 2024Updated last year
- Code for various extended Kalman filter state estimation methods for Cassie.☆45May 30, 2019Updated 6 years ago
- Use QP and whole-body PID to control a 12DOF robot dog.☆43Jul 30, 2019Updated 6 years ago
- 四足机器人仿真，使用VMC算法☆40Apr 25, 2022Updated 3 years ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆29Aug 18, 2021Updated 4 years ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆430Jan 19, 2026Updated last month
- MIT Cheetah仿真平台源码笔记以及一部分第三方组件☆141Feb 11, 2022Updated 4 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24May 20, 2025Updated 9 months ago
- Pronto - Legged Robot State Estimator - libraries, ROS wrapper and messages☆295Nov 11, 2025Updated 3 months ago
- ☆45Sep 10, 2024Updated last year