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.
☆40Updated 8 months ago
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☆44Updated 11 months ago
- ☆55Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Updated last week
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- Quaternion Model Predictive Control for Legged Robots☆72Updated 4 months ago
- ☆26Updated 7 months ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated last year
- A distributed whole-body model predictive control for quadruped robots☆73Updated 8 months ago
- Learning Model for Aggressive Jumping Maneuvers☆26Updated 10 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24Updated 8 months ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆57Updated this week
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆110Updated 4 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 9 months ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆23Updated 4 months ago
- Mujoco Gym environment for the control of quadruped robots☆65Updated last week
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆48Updated last year
- pybullet WBC quadruped robot☆12Updated 3 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆49Updated 5 months ago
- Model Predictive Control in JAX☆170Updated 2 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆57Updated last year
- ☆38Updated 2 years ago
- Humanoid loco-manipulation controller☆34Updated 11 months ago
- ICRA 2022 paper☆40Updated last year
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Updated 2 years ago
- Towards better athletic intelligence☆30Updated 4 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆69Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆50Updated last year
- ☆18Updated 10 months ago
- ☆43Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Updated 2 years ago