arthurchevalley / Legged-Robots-ProjectsLinks
Implementation of two legged robots controller. One bipedal (ATLAS) using the inverted pendulum model as well as a quadruped robot. For the quadruped robot multiple controller are implemented, from CPG and VMC, PD controller and reinforcement learning.
☆14Updated 2 years ago
Alternatives and similar repositories for Legged-Robots-Projects
Users that are interested in Legged-Robots-Projects are comparing it to the libraries listed below
Sorting:
- Some Must Read Papers on Optimal Controls of Bipedal Robots☆14Updated last year
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Updated 2 years ago
- ☆53Updated 3 years ago
- ☆88Updated 2 years ago
- ☆86Updated 2 years ago
- ☆121Updated 2 years ago
- This is a clone of OmniIsaacGymEnvs, and it is used for my rl env test.☆12Updated 2 years ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆83Updated last year
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆94Updated last month
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆90Updated 2 years ago
- Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)☆130Updated 2 months ago
- Humanoid loco-manipulation controller☆33Updated 9 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆133Updated 2 months ago
- Humanoid multi-contact motion controller☆36Updated 9 months ago
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆87Updated last year
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆131Updated 5 months ago
- ☆13Updated 2 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆53Updated last year
- Open Source Code for RA-L 2025 Paper☆48Updated last month
- Learning Perceptive Bipedal Locomotion over Irregular Terrain☆22Updated 2 years ago
- Imitation and relaxation reinforcement learning☆29Updated 3 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆178Updated 2 months ago
- ☆52Updated last year
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆115Updated 5 months ago
- Bipedal robot control using ocs2☆108Updated 4 months ago
- A collection of MPC walking scripts with various models☆42Updated 9 months ago
- In this repository there are the projects developed during the course of Advance Optimization-based Robot Control. The main topics are Ta…☆16Updated 2 years ago
- ☆15Updated 3 years ago
- Some good robot reinforcement learning projects and papers☆61Updated last year
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆61Updated 2 years ago