Alexyskoutnev / Quadruped-Trajectory-Optimization-Stack
Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
☆20Updated last year
Alternatives and similar repositories for Quadruped-Trajectory-Optimization-Stack
Users that are interested in Quadruped-Trajectory-Optimization-Stack are comparing it to the libraries listed below
Sorting:
- Code for our ICRA 2024 paper on learning diverse skills☆19Updated last year
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆50Updated last year
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 6 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆21Updated 8 months ago
- Python Implementation of Planning and Control☆53Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆40Updated last month
- phase-based Observations, Rewards, Coupling Ablation☆40Updated last year
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆26Updated 2 years ago
- ☆12Updated last year
- ☆27Updated 2 years ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆23Updated last year
- terrain-robustness benchmark for legged locomotion☆54Updated 2 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆42Updated last year
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆67Updated last year
- Python implementation of VP-STO☆44Updated 9 months ago
- Generative Predictive Control☆28Updated 3 weeks ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- Webpage for MorAL: Learning Morphologically Adaptive Locomotion Controller for Quadrupedal Robots on Challenging Terrains☆11Updated last year
- Multi-robot local motion planning using dynamic optimization fabrics.☆27Updated 9 months ago
- A collection of MPC walking scripts with various models☆36Updated 3 months ago
- ☆19Updated last month
- Contact Planning for Object Manipulation via Monte Carlo Tree Search☆14Updated 2 years ago
- Quaternion Model Predictive Control for Legged Robots☆42Updated 7 months ago
- ☆35Updated 6 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆47Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆42Updated last year
- Model predictive control in Python based on quadratic programming☆41Updated last month
- ☆14Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆49Updated last year