Quadruped robot linear MPC control, platform Webots + MATLAB
☆81Oct 18, 2024Updated last year
Alternatives and similar repositories for Quadruped_MPC_matlab
Users that are interested in Quadruped_MPC_matlab are comparing it to the libraries listed below
Sorting:
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆45May 21, 2024Updated last year
- Policy Regularized Model Predictive Control simulated by matlab☆16Apr 8, 2024Updated last year
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 3 years ago
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- 四足机器人仿真,使用VMC算法☆40Apr 25, 2022Updated 3 years ago
- ☆71Jun 26, 2022Updated 3 years ago
- MIT Cheetah仿真平台源码笔记以及一部分第三方组件☆142Feb 11, 2022Updated 4 years ago
- Unitree G1 VR teleoperation☆24Oct 10, 2025Updated 4 months ago
- Webots Simulation of Wheeled Bipedal Robot Using Model Based LQR (from an undergraduate graduation project)☆84Jul 25, 2024Updated last year
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆32Oct 7, 2022Updated 3 years ago
- ☆559Jul 22, 2024Updated last year
- Adaptive Dynamic Programming Algorithms and Simulations☆16Jun 30, 2021Updated 4 years ago
- Quadruped Simulation & Controlling with Gazebo.☆13Jan 19, 2021Updated 5 years ago
- Model-free event-triggered optimal control with performance guarantees via goal representation heuristic dynamic programming☆15Apr 1, 2022Updated 3 years ago
- ☆18Aug 28, 2025Updated 6 months ago
- 魔改mit开源四足机器人算法cheetah-software,防止自己实物机器人炸机丢程序哭都没地儿哭☆34Sep 7, 2020Updated 5 years ago
- Representation-Free Model Predictive Control for Dynamic Quadruped☆235Feb 28, 2025Updated last year
- mpc and wbc for mini cheetah in pybullet☆57Nov 20, 2020Updated 5 years ago
- Bipedal robot control using ocs2☆116Jul 1, 2025Updated 8 months ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,594Feb 13, 2025Updated last year
- Quadruped state estimation using kalman☆20Nov 27, 2022Updated 3 years ago
- ☆16May 9, 2024Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- asap_mujoco_sim☆61Jun 14, 2025Updated 8 months ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated last year
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21May 27, 2022Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Sep 12, 2021Updated 4 years ago
- Isaac Gym Environments for Legged Robots☆49Oct 1, 2025Updated 5 months ago
- humanoidgym adaption for alexbotmini and suitable for alexbotmini_sim2real☆20Apr 4, 2025Updated 11 months ago
- Model predictive control applied to dynamic/kinematic models in Python☆19Apr 28, 2021Updated 4 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Jun 1, 2023Updated 2 years ago
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Apr 7, 2025Updated 10 months ago
- xju auto pilot project for algorithm teaching.☆23May 23, 2024Updated last year
- This repository contains all the code and files needed to simulate the notspot quadrupedal robot using Gazebo and ROS.☆52May 26, 2021Updated 4 years ago
- 基于零空间方法(NUB)的全身控制(WBC)的简单实现☆58Jul 28, 2020Updated 5 years ago
- Official support TITA Reinforcement Learning repo☆126Nov 4, 2025Updated 4 months ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆313Mar 28, 2025Updated 11 months ago