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.
☆32Updated 3 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☆38Updated 6 months ago
- ☆41Updated 9 months ago
- ☆23Updated 2 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆41Updated this week
- A distributed whole-body model predictive control for quadruped robots☆55Updated 3 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆65Updated last year
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆103Updated 2 months ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 8 months ago
- Quaternion Model Predictive Control for Legged Robots☆60Updated 10 months ago
- Learning Model for Aggressive Jumping Maneuvers☆19Updated 5 months ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆78Updated last month
- Towards better athletic intelligence☆26Updated 2 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆40Updated 4 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- ☆37Updated 2 years ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆28Updated 2 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 2 months ago
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆45Updated 2 years ago
- Model Predictive Control in JAX☆76Updated 3 weeks ago
- Mujoco Gym environment for the control of quadruped robots☆46Updated last week
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆51Updated 2 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆73Updated 4 months ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆37Updated last week
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆51Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆79Updated this week
- ☆16Updated 5 months ago
- ICRA 2022 paper☆39Updated 11 months ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆51Updated this week
- Trajectory optimization in MATLAB for MIT Cheetah☆40Updated 3 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆112Updated last year