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.
☆46May 2, 2025Updated 11 months ago
Alternatives and similar repositories for dfki-quad
Users that are interested in dfki-quad are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆24May 20, 2025Updated 10 months ago
- C++ Drivers for MIT Mini-Cheetah Type Actuators from T-Motors☆22Jan 16, 2023Updated 3 years ago
- ☆14Feb 9, 2026Updated 2 months ago
- RAL 24: A decentralized state estimation framework for legged robots.☆17Jul 2, 2024Updated last year
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated 7 months ago
- GPUs on demand by Runpod - Special Offer Available • AdRun AI, ML, and HPC workloads on powerful cloud GPUs—without limits or wasted spend. Deploy GPUs in under a minute and pay by the second.
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆71May 31, 2023Updated 2 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆120Sep 15, 2025Updated 7 months ago
- Dual purpose Acrobot and Pendubot Platform☆54Sep 4, 2025Updated 7 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆82Sep 10, 2024Updated last year
- ☆27Jul 14, 2025Updated 9 months ago
- A distributed whole-body model predictive control for quadruped robots☆83Apr 22, 2025Updated 11 months ago
- LTV MPC for Quadruped Locomotion☆19Oct 31, 2023Updated 2 years ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆452Mar 31, 2026Updated 2 weeks ago
- Python Motor Driver for Mini-Cheetah based Actuators: T-Motor AK80-6/AK80-9 using SocketCAN Interface☆42Jun 28, 2023Updated 2 years ago
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- Bipedal locomotion software for the humanoid robot platform iCub.☆152Feb 24, 2026Updated last month
- Algorithm implementation for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics☆52Jan 26, 2026Updated 2 months ago
- phase-based Observations, Rewards, Coupling Ablation☆51Mar 7, 2024Updated 2 years ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆26Feb 27, 2024Updated 2 years ago
- Imitation and relaxation reinforcement learning☆30Sep 26, 2022Updated 3 years ago
- ☆14Feb 10, 2026Updated 2 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Apr 6, 2026Updated last week
- Hierachical Quadratic Problem solver☆12Oct 30, 2012Updated 13 years ago
- Kinematics and Dynamics for Robotics☆39Jan 13, 2024Updated 2 years ago
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Local planners for ground robots☆32Mar 3, 2025Updated last year
- Library of rigid-body dynamics algorithms for systems with kinematic loops.☆52Apr 11, 2026Updated last week
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆24Sep 28, 2023Updated 2 years ago
- AcroMonk: A Minimalist Underactuated Brachiating Robot☆54Aug 25, 2023Updated 2 years ago
- Towards better athletic intelligence☆32Jan 31, 2026Updated 2 months ago
- The Reconfigurable Solver for QP☆11Apr 19, 2023Updated 3 years ago
- Papers related to Legged locomotion☆18Oct 16, 2024Updated last year
- Implementation of PegasusFlow: Parallel Rolling-Denoising Score Sampling for Robot Diffusion Planner Flow Matching☆18Sep 18, 2025Updated 7 months ago
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- ☆61Oct 10, 2025Updated 6 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- ☆341Apr 1, 2026Updated 2 weeks ago
- Model Predictive Control for Franka Panda Arm☆66Apr 16, 2023Updated 3 years ago
- ☆120Sep 19, 2024Updated last year
- Repository for our paper: Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions. (ICRA 2023)☆51Apr 6, 2024Updated 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…☆42Apr 7, 2025Updated last year