HybridRobotics / quadruped_nmpc_dcbf_dualityLinks
☆104Updated 2 years ago
Alternatives and similar repositories for quadruped_nmpc_dcbf_duality
Users that are interested in quadruped_nmpc_dcbf_duality are comparing it to the libraries listed below
Sorting:
- Quaternion Model Predictive Control for Legged Robots☆61Updated 10 months ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆77Updated 8 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)☆75Updated 3 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆45Updated 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 …☆14Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆66Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 4 months ago
- A distributed whole-body model predictive control for quadruped robots☆61Updated 4 months ago
- ☆25Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆58Updated 11 months ago
- Model Predictive Control in JAX☆100Updated last week
- Planning framework for legged locomotion☆19Updated last year
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆56Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆40Updated 3 years ago
- ☆120Updated 9 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆54Updated 2 years ago
- Contact estimation for quadruped robots.☆100Updated 3 years ago
- terrain-robustness benchmark for legged locomotion☆63Updated 2 years ago
- ☆42Updated 10 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆63Updated 8 months ago
- ☆69Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆162Updated 3 months ago
- Thie repository provides simulation map environment of ICRA2023 Quadruped Robot Challenges☆58Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆63Updated 3 years ago
- ☆28Updated 7 months ago
- Quadruped state estimation using kalman☆16Updated 2 years ago
- ☆95Updated 11 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 2 years ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆103Updated 3 months ago