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…
☆90Updated 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☆92Updated 6 years ago
- ☆188Updated 2 years ago
- Collection of centroidal control for legged robots☆79Updated 5 months ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆83Updated last year
- ☆46Updated 3 years ago
- Bipedal robot control using ocs2☆107Updated 3 months ago
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆47Updated 5 years ago
- Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots☆51Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆42Updated 4 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆131Updated last month
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆51Updated 5 years ago
- Python implementation for ZMP preview control☆99Updated 2 years ago
- ☆70Updated 3 years ago
- ☆43Updated 2 years ago
- ☆33Updated 3 years ago
- ☆120Updated 2 years ago
- Extended version of Featherstone's spatial_v2 package☆66Updated 7 months ago
- Central repository for operational instructions and installation scripts.☆25Updated 3 years ago
- Analytical Contact Jacobian for bipedal robots using URDF☆16Updated last year
- Work done in IHMC Robotics since Aug 2019☆62Updated 3 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆58Updated 2 years ago
- Policy Regularized Model Predictive Control simulated by matlab☆15Updated last year
- Humanoid walking controller with various baseline methods☆151Updated 4 months ago
- ☆54Updated 6 years ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆30Updated this week
- ROS2 version of OCS2, refactor with modern-cmake☆128Updated last month
- ☆38Updated 6 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆91Updated last month
- ☆44Updated last year
- mpc and wbc for mini cheetah in pybullet☆56Updated 4 years ago