This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…
☆63Aug 16, 2022Updated 3 years ago
Alternatives and similar repositories for CLF_reactive_planning_system
Users that are interested in CLF_reactive_planning_system are comparing it to the libraries listed below
Sorting:
- Hierachical Quadratic Problem solver☆12Oct 30, 2012Updated 13 years ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆26Oct 31, 2022Updated 3 years ago
- ☆12Dec 13, 2023Updated 2 years ago
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 3 years ago
- ☆46Sep 29, 2024Updated last year
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- ☆52Mar 26, 2019Updated 6 years ago
- ☆117Jan 2, 2023Updated 3 years ago
- The ROS source code for interacting with the MapSense3D interface for visual SLAM.☆20Jul 28, 2022Updated 3 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆20Aug 30, 2023Updated 2 years ago
- Implementation of a multi-rate control architecture based on MPC and CBF☆25Feb 20, 2021Updated 5 years ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆92Mar 27, 2023Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21May 27, 2022Updated 3 years ago
- HQP_DualArmMobile☆10Sep 12, 2018Updated 7 years ago
- Robot control with Traditional control and Optimal control and Learning-based control☆10Oct 9, 2022Updated 3 years ago
- Octomap-based planner for UAVs.☆24Feb 13, 2026Updated 2 weeks ago
- ☆43Jun 9, 2023Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆50Feb 19, 2023Updated 3 years ago
- ☆17Sep 10, 2025Updated 5 months ago
- methods_lidar_3d☆12Jan 15, 2022Updated 4 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- Repository for the Unicycle-based FootStep Planner.☆21Mar 28, 2025Updated 11 months ago
- ☆46May 14, 2022Updated 3 years ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆76Jul 2, 2024Updated last year
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆912Jan 17, 2026Updated last month
- BroadBEV: Collaborative LiDAR-camera Fusion for Broad-sighted Bird's Eye View Map Construction, in 2024 ICRA.☆14May 2, 2024Updated last year
- Rviz plugins to display whole-body states and trajectories☆73Jan 19, 2026Updated last month
- Sampling based control for kino-dynamic contact aware motion planning.☆34Mar 3, 2021Updated 5 years ago
- ☆155Nov 18, 2019Updated 6 years ago
- ☆25Feb 14, 2023Updated 3 years ago
- ☆24Oct 12, 2022Updated 3 years ago
- A MATLAB implementation of the Recursive Parameter Nullspace Algorithm - Paper Under Review☆17Sep 2, 2018Updated 7 years ago
- Analytical Contact Jacobian for bipedal robots using URDF☆17Nov 26, 2023Updated 2 years ago
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆38Jun 23, 2021Updated 4 years ago
- Webpage for MorAL: Learning Morphologically Adaptive Locomotion Controller for Quadrupedal Robots on Challenging Terrains☆20Mar 3, 2024Updated 2 years ago
- ☆28Dec 14, 2022Updated 3 years ago
- Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)☆89Jun 6, 2022Updated 3 years ago
- Semantic ELevation (SEL) map is a semantic Bayesian inferencing framework for real-time elevation mapping and terrain property estimation…☆146Aug 5, 2025Updated 6 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Sep 12, 2021Updated 4 years ago