NaCl-1374 / Trajectory-Optimization-for-Legged-RobotsLinks
Trajectory Optimization for Legged Robots by matlab and Casadi
☆12Updated last year
Alternatives and similar repositories for Trajectory-Optimization-for-Legged-Robots
Users that are interested in Trajectory-Optimization-for-Legged-Robots are comparing it to the libraries listed below
Sorting:
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆22Updated last year
- LTV MPC for Quadruped Locomotion☆16Updated 2 years ago
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆18Updated 5 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- whole body control QP solver with full friction cones☆13Updated last year
- Policy Regularized Model Predictive Control simulated by matlab☆15Updated last year
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆90Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆42Updated 4 years ago
- 基于零空间方法(NUB)的全身控制(WBC)的简单实现☆52Updated 5 years ago
- Analytical Contact Jacobian for bipedal robots using URDF☆16Updated last year
- compare different algorithm☆18Updated 2 years ago
- ☆54Updated 6 years ago
- A collection of MPC walking scripts with various models☆42Updated 9 months ago
- ☆13Updated 2 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆53Updated last year
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- ☆34Updated 3 years ago
- Learning Model for Aggressive Jumping Maneuvers☆24Updated 8 months ago
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆48Updated 5 years ago
- Extended version of Featherstone's spatial_v2 package☆67Updated 7 months ago
- ☆24Updated 5 months ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆28Updated 4 years ago
- ☆44Updated last year
- pybullet WBC quadruped robot☆11Updated 3 years ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago
- ☆46Updated 3 years ago
- Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots☆52Updated 2 years ago
- Project management and files related to my master's thesis on 'Highly-Dynamic Movements of a Humanoid Robot Using Whole-Body Trajectory O…☆16Updated 4 years ago
- Work done in IHMC Robotics since Aug 2019☆62Updated 3 years ago
- A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn☆30Updated 8 months ago