arthurchevalley / Legged-Robots-Projects
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.
☆12Updated last year
Alternatives and similar repositories for Legged-Robots-Projects:
Users that are interested in Legged-Robots-Projects are comparing it to the libraries listed below
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆41Updated last year
- ☆35Updated last year
- ☆46Updated 2 years ago
- ☆73Updated last year
- A collection of MPC walking scripts with various models☆35Updated 2 months ago
- Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…☆62Updated last year
- Learning Perceptive Bipedal Locomotion over Irregular Terrain☆14Updated last year
- DTC: Deep Tracking Control☆52Updated 5 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- Some good robot reinforcement learning projects and papers☆42Updated last year
- Humanoid loco-manipulation controller☆30Updated 2 months ago
- ☆84Updated 2 years ago
- Some Must Read Papers on Optimal Controls of Bipedal Robots☆12Updated 8 months ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆74Updated last month
- This repository contains papers in the field of legged robots.☆46Updated last week
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆15Updated 6 months ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆54Updated 9 months ago
- ☆34Updated last year
- Imitation and relaxation reinforcement learning☆23Updated 2 years ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆45Updated last year
- Personal legged_gym Unitree A1 implementation for paper 'Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Con…☆12Updated 10 months ago
- Quadruped Tasks extension based on Isaac Lab.☆33Updated last week
- AMP implementation with minimal changes on legged_gym and rsl_rl☆43Updated 9 months ago
- ☆42Updated last year
- Inverse Kinematics-based Model Predictive Control for Robot Motion Planning☆12Updated 3 months ago
- pybullet WBC quadruped robot☆9Updated 3 years ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆53Updated 7 months ago
- ☆28Updated 5 months ago
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆31Updated 3 weeks ago
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆47Updated 4 years ago