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.
☆34Updated 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:
- ICRA 2022 paper☆40Updated last year
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24Updated 6 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
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆167Updated 6 months ago
- Simulation environment with Digit model in MuJoCo based on ROS2☆10Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆69Updated 7 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆19Updated 2 years ago
- ROS-based MuJoCo utilities☆38Updated last month
- ☆57Updated 4 months ago
- Model Predictive Control in JAX☆159Updated 2 weeks ago
- [ICRA 2025] We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The arch…☆33Updated 6 months ago
- C++ library for optimization-based control of redundant robots☆71Updated last week
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆47Updated 2 years ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆56Updated this week
- Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).☆61Updated 2 months ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆42Updated last week
- A light-weight and extensible C++ library for Pseudospectral Collocation of Switched Systems☆60Updated 3 months ago
- Guidelines and notes about useful tools to analyze and optimize code☆43Updated 2 weeks ago
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆45Updated 2 weeks ago
- Bubblify is an interactive tool for creating spherical approximations of robot geometries directly from Universal Robot Description Forma…☆93Updated 2 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆53Updated 2 years ago
- Torobo models and example scripts in MuJoCo☆72Updated 5 months ago
- Toy implementations of algorithms for path planning, system modelling, optimal control, estimation, and more.☆22Updated 6 years ago
- This repository shows how to follow the guidelines from Pinocchio to generate walking gaits for a humanoid robot.☆15Updated 2 years ago
- Model predictive control in Python based on quadratic programming☆50Updated 2 weeks ago
- Whole body Inverse Kinematics based on Pinocchio and qpmad☆38Updated last year
- Quaternion Model Predictive Control for Legged Robots☆68Updated 2 months ago
- Tools for exploiting Morphological Symmetries in robotics☆95Updated 3 months ago
- CSDecomp implements GPU-accelerated collision checking for generating approximate convex decompositions of robot configuration space.☆50Updated last week