botianhao / humanoid_controlLinks
A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn
☆30Updated 8 months ago
Alternatives and similar repositories for humanoid_control
Users that are interested in humanoid_control are comparing it to the libraries listed below
Sorting:
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆68Updated last year
- Bipedal robot control using ocs2☆110Updated 4 months ago
- ☆32Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆53Updated last year
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆61Updated 2 years ago
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆39Updated last year
- The project of the body estimation for the wheel-legged robot☆10Updated last year
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆78Updated 11 months ago
- ROS2 version of OCS2, refactor with modern-cmake☆131Updated last month
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆22Updated last year
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆84Updated last year
- compare different algorithm☆18Updated 2 years ago
- ☆68Updated 2 years ago
- Locomotion tasks for bipedal robots in IsaacLab☆66Updated 5 months ago
- IsaacLab to Mujoco GO2 deploy, IsaacLab to Real world GO2 deploy☆27Updated 2 months ago
- train aliengo robot with rough env on isaaclab and deploy it.☆31Updated last year
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆72Updated last year
- ☆46Updated last year
- ☆101Updated last year
- Learning Model for Aggressive Jumping Maneuvers☆24Updated 8 months ago
- ☆13Updated 11 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Updated 2 years ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆62Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆42Updated 4 years ago
- ☆133Updated 11 months ago
- ☆131Updated 6 months ago
- Quaternion Model Predictive Control for Legged Robots☆66Updated 2 months ago
- This repository contains papers in the field of legged robots.☆61Updated last week
- Quadruped Tasks extension based on Isaac Lab.☆43Updated 3 months ago
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆37Updated 3 months ago