Nanda-Kishore-V / Hybrid-Zero-Dynamics
Implementation of the paper "Hybrid Zero Dynamics of Planar Bipedal Walking"
☆9Updated 5 years ago
Related projects ⓘ
Alternatives and complementary repositories for Hybrid-Zero-Dynamics
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆58Updated 4 months ago
- A collection of MPC walking scripts with various models☆19Updated last month
- ☆12Updated 2 years ago
- ☆15Updated 2 months ago
- ☆44Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆35Updated 5 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- ☆30Updated 2 years ago
- ICRA 2022 paper☆29Updated 2 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆10Updated 4 years ago
- ☆30Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆34Updated 3 years ago
- Model predictive control based on data-driven model☆25Updated last year
- ☆15Updated 11 months ago
- Implementation of a planar bipedal walking using Hybrid Zero Dynamics in Python☆15Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆41Updated 5 months ago
- Model predictive control applied to dynamic/kinematic models in Python☆15Updated 3 years ago
- ☆16Updated 3 weeks ago
- ☆37Updated 5 years ago
- ☆24Updated 2 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- ☆45Updated 5 years ago
- ☆14Updated last year
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆29Updated 3 months ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆27Updated 3 years ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆35Updated 9 months ago
- A repo for mpc learner.☆16Updated last year
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 3 years ago