alvinsunyixiao / vrpn_mocap
☆15Updated 2 months ago
Related projects: ⓘ
- ☆12Updated last week
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆37Updated 3 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆22Updated last week
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆29Updated last year
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆25Updated 3 years ago
- ☆28Updated 2 years ago
- ☆23Updated 2 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated last year
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆28Updated 3 years ago
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆26Updated 2 years ago
- ROS examples for the control toolbox☆34Updated 4 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆32Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆57Updated 2 months ago
- ☆19Updated 6 months ago
- Templated C++/CUDA implementation of Model Predictive Path Integral Control (MPPI)☆42Updated this week
- ☆39Updated this week
- ☆83Updated last year
- Official implementation for the paper "CoVO-MPC: Theoretical Analysis of Sampling-based MPC and Optimal Covariance Design" accepted by L4…☆106Updated 3 months ago
- ☆49Updated last year
- ROS package for the simulation of legged platforms using Gazebo☆27Updated 3 years ago
- Non-linear model predictive control (NMPC) library☆38Updated 9 months ago
- Quadruped control architecture☆65Updated 2 years ago
- This is a Tutorial on how to use CasADi with CPP.☆68Updated last month
- Legged State Estimation Library☆16Updated 11 years ago
- ROS2 interface of unitree A1☆18Updated 2 years ago
- ☆39Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆58Updated 5 months ago
- Whole-Body Controller for quadrupedal robots with soft contacts constraints.☆12Updated last month
- Papers on robot reinforcement learning recently.☆8Updated 3 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆11Updated 2 years ago