botianhao / humanoid_control
A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn
☆12Updated 2 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:
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆76Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆54Updated 8 months ago
- Bipedal robot control using ocs2☆95Updated 8 months ago
- This project shows how to use your own urdf to run on humanoid-gym, taking loong as an example☆13Updated 9 months ago
- ROS2 version of OCS2, refactor with modern-cmake☆82Updated 3 weeks ago
- A mainstream 2-DOF humanoid ankle simulation in Webots.☆12Updated 7 months ago
- 基于零空间方法(NUB)的全身控制(WBC)的简单实现☆47Updated 4 years ago
- ☆32Updated 2 weeks ago
- The project of the body estimation for the wheel-legged robot☆10Updated last year
- Policy Regularized Model Predictive Control simulated by matlab☆14Updated last year
- ☆43Updated 8 months ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆51Updated 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…☆31Updated 11 months ago
- ☆30Updated 5 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆49Updated 11 months ago
- ☆75Updated 7 months ago
- Locomotion tasks for bipedal robots in IsaacLab☆39Updated last month
- compare different algorithm☆17Updated 2 years ago
- DTC: Deep Tracking Control☆54Updated 5 months ago
- ☆20Updated last month
- ☆10Updated 5 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆38Updated 3 years ago
- Some good robot reinforcement learning projects and papers☆42Updated last year
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆84Updated 2 years ago
- ☆58Updated last year
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆17Updated last year
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆44Updated 5 years ago
- Reinforcement learning framework for legged robot.☆66Updated 4 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated 11 months ago
- Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots☆47Updated 2 years ago