Alexyskoutnev / Quadruped-Trajectory-Optimization-StackLinks
Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body trajectory plans across challenging terrains.
☆23Updated 2 years ago
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:
- whole body control QP solver with full friction cones☆13Updated last year
- Learning Model for Aggressive Jumping Maneuvers☆23Updated 8 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Updated last year
- ☆11Updated 3 years ago
- ☆51Updated last year
- Code for our ICRA 2024 paper on learning diverse skills☆22Updated last year
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 5 months ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆35Updated 6 months ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated 11 months ago
- A collection of awesome projects using MuJoCo.☆14Updated 5 months ago
- A collection of MPC walking scripts with various models☆42Updated 9 months ago
- Papers related to Legged locomotion☆16Updated last year
- Learning Robot Locomotion from Diverse Datasets☆13Updated 6 months ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Updated 2 years ago
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆18Updated 5 years ago
- ☆24Updated 5 months ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆21Updated last month
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆42Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- A generic sampling-based MPC python library based on jax☆20Updated 2 months ago
- [IEEE RA-L 2023] Official Implementation of Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrie…☆35Updated 8 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆47Updated last year
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆23Updated last week
- pybullet WBC quadruped robot☆11Updated 3 years ago
- Generative Predictive Control☆51Updated last month
- ☆18Updated 8 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 7 months ago
- Multi-robot local motion planning using dynamic optimization fabrics.☆36Updated last year
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆29Updated 3 years ago
- Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.☆19Updated 2 months ago