Argo-Robot / footsteps_planningLinks
Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet trajectory generation, ZMP and CoM trajectory generation.
☆36Updated 10 months ago
Alternatives and similar repositories for footsteps_planning
Users that are interested in footsteps_planning are comparing it to the libraries listed below
Sorting:
- ☆56Updated 5 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24Updated 7 months ago
- A distributed whole-body model predictive control for quadruped robots☆71Updated 8 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆167Updated 7 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 8 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- ICRA 2022 paper☆40Updated last year
- Simulation environment with Digit model in MuJoCo based on ROS2☆10Updated 2 years ago
- Bubblify is an interactive tool for creating spherical approximations of robot geometries directly from Universal Robot Description Forma…☆110Updated 3 months ago
- Model Predictive Control in JAX☆168Updated last month
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆56Updated this week
- C++ library for optimization-based control of redundant robots☆73Updated last week
- Quaternion Model Predictive Control for Legged Robots☆70Updated 3 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆48Updated 2 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated last year
- ☆53Updated last year
- ☆114Updated 2 years ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆70Updated last year
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆21Updated 3 years ago
- Tools for exploiting Morphological Symmetries in robotics☆96Updated 3 months ago
- A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems☆60Updated 3 months ago
- This repository shows how to follow the guidelines from Pinocchio to generate walking gaits for a humanoid robot.☆15Updated 2 years ago
- Mujoco simulate app with ROS2 integration.☆19Updated 8 months ago
- ROS-based MuJoCo utilities☆38Updated 2 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆43Updated last week
- Rviz plugins to display whole-body states and trajectories☆72Updated 2 weeks ago
- Quadruped state estimation using kalman☆18Updated 3 years ago
- Whole body Inverse Kinematics based on Pinocchio and qpmad☆38Updated last year
- phase-based Observations, Rewards, Coupling Ablation☆47Updated last year