UMich-BipedLab / cassie_alip_mpcLinks
This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints(pdf)(arXiv). The controller has two components: (1) an Angular Momentum Linear Inverted Pendulum (ALIP)-based Model Predictive Contro…
☆87Updated 2 years ago
Alternatives and similar repositories for cassie_alip_mpc
Users that are interested in cassie_alip_mpc are comparing it to the libraries listed below
Sorting:
- Repo containing the urdf and frost based models of Cassie☆91Updated 6 years ago
- ☆185Updated 2 years ago
- Collection of centroidal control for legged robots☆80Updated 3 months ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆82Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆125Updated last week
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆47Updated 5 years ago
- ☆33Updated 3 years ago
- ☆70Updated 3 years ago
- Bipedal robot control using ocs2☆105Updated 2 months ago
- ☆43Updated 2 years ago
- Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots☆51Updated 2 years ago
- ☆44Updated 3 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆160Updated 2 weeks ago
- ☆43Updated last year
- Python implementation for ZMP preview control☆98Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆41Updated 4 years ago
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆51Updated 5 years ago
- Humanoid walking controller with various baseline methods☆148Updated 2 months ago
- ☆54Updated 6 years ago
- ☆51Updated 3 years ago
- Analytical Contact Jacobian for bipedal robots using URDF☆16Updated last year
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆57Updated 2 years ago
- ROS2 version of OCS2, refactor with modern-cmake☆116Updated 2 weeks ago
- This repository contains papers in the field of legged robots.☆56Updated last month
- compare different algorithm☆18Updated 2 years ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆29Updated this week
- Extended version of Featherstone's spatial_v2 package☆62Updated 5 months ago
- ICRA 2022 paper☆39Updated last year
- ☆114Updated last year
- Policy Regularized Model Predictive Control simulated by matlab☆15Updated last year