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
☆33Updated 10 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☆72Updated last year
- Bipedal robot control using ocs2☆114Updated 6 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆56Updated last year
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆86Updated 2 years ago
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆23Updated last year
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆65Updated 3 years ago
- The project of the body estimation for the wheel-legged robot☆11Updated 2 years ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆195Updated 2 weeks ago
- ☆32Updated last year
- ROS2 version of OCS2, refactor with modern-cmake☆139Updated last week
- Trajectory optimization in MATLAB for MIT Cheetah☆43Updated 4 years ago
- 基于零空间方法(NUB)的全身控制(WBC)的简单实现☆57Updated 5 years ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆81Updated last year
- Reinforcement learning framework for legged robot.☆89Updated last year
- ☆130Updated 2 years ago
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions" on unitree G1☆72Updated 4 months ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆92Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆73Updated 8 months ago
- ☆53Updated 3 years ago
- This project shows how to use your own urdf to run on humanoid-gym, taking loong as an example☆15Updated last year
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆42Updated last year
- ☆104Updated last year
- ☆35Updated 3 years ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Updated 2 years ago
- ☆17Updated last year
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆109Updated 3 months ago
- ☆71Updated 2 years ago
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆75Updated 3 months ago
- ☆31Updated last year
- This repository provide a tool to convert robot urdf file to mjcf.☆67Updated 5 months ago