HexiangZhou / Quadruped-Control-OCS2-ROS2Links
ROS 2 version of NMPC control for quadruped robot simulation in Mujoco software.
☆21Updated last year
Alternatives and similar repositories for Quadruped-Control-OCS2-ROS2
Users that are interested in Quadruped-Control-OCS2-ROS2 are comparing it to the libraries listed below
Sorting:
- A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn☆34Updated 11 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆74Updated last year
- ☆32Updated last year
- ☆104Updated last year
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆206Updated last month
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆42Updated last year
- Bipedal robot control using ocs2☆114Updated 7 months ago
- Quadrupedal locomotion for slippery terrains, Mujoco and Real Go1-Go2 Unitree's.☆17Updated 10 months ago
- Himloco with modifications of AMP, reward, recovery and etc.☆31Updated 4 months ago
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆76Updated 4 months ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆85Updated 2 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆64Updated 3 years ago
- ROS2 version of OCS2, refactor with modern-cmake☆140Updated last month
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆23Updated last year
- This repository contains papers in the field of legged robots.☆72Updated this week
- Mujoco Gym environment for the control of quadruped robots☆66Updated 3 weeks ago
- Reinforcement learning framework for legged robot.☆91Updated last year
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆41Updated 6 months ago
- ☆134Updated 2 years ago
- Deploying a quadruped robot policy(DreamWaQ, walk-these-ways, HIMLoco) trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim☆44Updated 2 months ago
- This repo contains implementation of the paper "Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinfor…☆59Updated 2 weeks ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆67Updated 2 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆109Updated 4 months ago
- Towards better athletic intelligence☆176Updated 2 weeks ago
- IsaacLab to Mujoco GO2 deploy, IsaacLab to Real world GO2 deploy☆53Updated 4 months ago
- ☆149Updated last year
- compare different algorithm☆18Updated 2 years ago
- Quadruped robot reinforcement learning deployment method based on the unitree_guide state machine.☆107Updated last year
- ☆71Updated 2 years ago
- Quadruped handstand using Legged Gym and reinforcement learning in Isaac Gym.☆29Updated 10 months ago