dfki-ric-underactuated-lab / dfki-quadLinks
This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller using MPC, WBC and different Gait Sequencers and hardware drivers to be used with different quadrupeds.
☆23Updated last month
Alternatives and similar repositories for dfki-quad
Users that are interested in dfki-quad are comparing it to the libraries listed below
Sorting:
- A collection of MPC walking scripts with various models☆37Updated 4 months ago
- ☆38Updated 8 months ago
- Learning Model for Aggressive Jumping Maneuvers☆18Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆37Updated last week
- ☆22Updated 3 weeks ago
- Model Predictive Control in JAX☆46Updated last week
- ☆16Updated 3 months ago
- ICRA 2022 paper☆39Updated 9 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆22Updated last month
- Quaternion Model Predictive Control for Legged Robots☆58Updated 8 months ago
- ☆35Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 2 months ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆75Updated last month
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 7 months ago
- Real-Time Multi-Contact Model Predictive Control via ADMM☆44Updated last year
- System Identification For Constrained Robots☆11Updated 4 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 6 months ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆55Updated 2 months ago
- Humanoid loco-manipulation controller☆31Updated 4 months ago
- ☆26Updated 5 months ago
- ☆11Updated last month
- ☆33Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- ☆43Updated 2 years ago
- 多足机器人MPC控制器+仿真环境☆12Updated 2 years ago
- Judo: a hackable sampling-based MPC toolbox☆19Updated this week
- A Contact-Implicit Trajectory Optimization Package☆45Updated last year
- ☆44Updated 3 years ago
- Implementation of the sl1m solver for multi contact planning☆19Updated 2 years ago