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
☆28Updated 7 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:
- Bipedal robot control using ocs2☆107Updated 3 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆67Updated last year
- ☆30Updated last year
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆83Updated 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…☆38Updated last year
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆58Updated 2 years ago
- The project of the body estimation for the wheel-legged robot☆10Updated last year
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆75Updated 11 months ago
- ☆46Updated last year
- compare different algorithm☆18Updated 2 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆52Updated last year
- ROS2 version of OCS2, refactor with modern-cmake☆128Updated last month
- ☆99Updated last year
- This project shows how to use your own urdf to run on humanoid-gym, taking loong as an example☆15Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆41Updated 4 years ago
- Locomotion tasks for bipedal robots in IsaacLab☆63Updated 4 months ago
- ☆48Updated last year
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions" on unitree G1☆56Updated 2 months ago
- Reinforcement learning framework for legged robot.☆81Updated 9 months ago
- ☆120Updated 2 years ago
- Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots☆51Updated 2 years ago
- This repository provide a tool to convert robot urdf file to mjcf.☆55Updated 2 months ago
- 基于零空间方法(NUB)的全身控制(WBC)的简单实现☆51Updated 5 years ago
- ☆52Updated 3 years ago
- ☆13Updated 11 months ago
- This repo contains implementation of the paper "Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinfor…☆35Updated last month
- ☆44Updated last year
- Policy Regularized Model Predictive Control simulated by matlab☆15Updated last year
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆37Updated 2 months ago
- Open Source Code for the IROS 2024 Paper☆197Updated last month