ShuoYangRobotics / legged_control
Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
☆36Updated last year
Alternatives and similar repositories for legged_control:
Users that are interested in legged_control are comparing it to the libraries listed below
- ☆105Updated 4 months ago
- Bipedal robot control using ocs2☆90Updated 7 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆52Updated 7 months ago
- ROS2 version of OCS2, refactor with modern-cmake☆73Updated 3 weeks ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆50Updated 2 years ago
- Towards better athletic intelligence☆101Updated 4 months ago
- This repository is an open-sourced code for the IROS 2024 paper.☆150Updated last month
- ☆71Updated 6 months ago
- ☆96Updated last year
- ☆94Updated 2 years ago
- ☆173Updated 2 years ago
- Quadruped Tasks extension based on Isaac Lab.☆31Updated 2 weeks ago
- [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipul…☆95Updated 2 weeks ago
- DTC: Deep Tracking Control☆50Updated 4 months ago
- This repository contains papers in the field of legged robots.☆43Updated 6 months ago
- Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls☆10Updated last year
- ☆32Updated last year
- Repo containing the urdf and frost based models of Cassie☆92Updated 5 years ago
- Towards better athletic intelligence☆22Updated 10 months ago
- ☆89Updated 5 months ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆84Updated 2 years ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆74Updated last year
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆46Updated 10 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆94Updated 9 months ago
- ☆44Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- ☆83Updated 6 months ago
- two wheel legged robot for IsaacLab - reinforcement learning☆125Updated this week
- A distributed whole-body model predictive control for quadruped robots☆35Updated 4 months ago
- Humanoid walking controller with various baseline methods☆139Updated 2 months ago