AndrewZheng-1011 / legged_planner
Planning framework for legged locomotion
☆17Updated 4 months ago
Related projects ⓘ
Alternatives and complementary repositories for legged_planner
- Quaternion Model Predictive Control for Legged Robots☆25Updated last month
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆58Updated 4 months ago
- ☆86Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆41Updated 5 months ago
- Quadruped state estimation using kalman☆11Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆35Updated 5 months ago
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆19Updated 6 months ago
- ☆19Updated 3 months ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆56Updated 2 years ago
- This Project extends the concepts of the Anymal C robot developed by the ANYmal group and uses the simulation of this robot coupled with …☆13Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆61Updated 8 months ago
- Quadruped Robot Planning ROS Package☆14Updated 8 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆34Updated 2 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated last year
- ☆19Updated 8 months ago
- ☆63Updated 6 months ago
- Software tools for agile quadrupeds (Unitree Go1)☆12Updated 9 months ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆41Updated last year
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆32Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆34Updated 3 years ago
- Sampling based control for kino-dynamic contact aware motion planning.☆22Updated 3 years ago
- ☆29Updated last year
- State estimator for legged robots using Optimization, Kalman filtering, and Learning☆16Updated 7 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆28Updated 6 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆70Updated this week
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆14Updated 8 months ago
- ☆57Updated last year
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆13Updated 2 years ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆20Updated 2 years ago