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.
☆39Updated 7 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:
- ☆53Updated last year
- Learning Model for Aggressive Jumping Maneuvers☆25Updated 9 months ago
- A collection of MPC walking scripts with various models☆42Updated 10 months ago
- Extension of RSL-RL for using Morphological Symmetries in IsaacLab☆22Updated 2 months ago
- ☆24Updated 6 months ago
- Quaternion Model Predictive Control for Legged Robots☆68Updated 3 months ago
- A distributed whole-body model predictive control for quadruped robots☆71Updated 7 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆50Updated 2 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆42Updated last week
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆85Updated 5 months ago
- Towards better athletic intelligence☆28Updated 3 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…☆137Updated 6 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆48Updated last year
- pybullet WBC quadruped robot☆11Updated 3 years ago
- Mujoco Gym environment for the control of quadruped robots☆59Updated last week
- Model Predictive Control in JAX☆162Updated 3 weeks ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆102Updated 2 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24Updated 6 months ago
- ☆38Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Updated 2 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Updated last year
- ☆17Updated 9 months ago
- Humanoid loco-manipulation controller☆34Updated 10 months ago
- ICRA 2022 paper☆40Updated last year
- An IsaacLab extension from DLS for basic locomotion tasks on multiple quadruped robots, featuring sim-to-sim and sim-to-real pipelines al…☆36Updated last week
- Deploying a quadruped robot policy(DreamWaQ, walk-these-ways, HIMLoco) trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim☆33Updated 3 weeks ago
- Quadruped Tasks extension based on Isaac Lab.☆44Updated 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…☆43Updated 8 months ago
- Open Source Code for RA-L 2025 Paper☆52Updated 2 months ago