dfki-ric-underactuated-lab / mppc
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
☆20Updated 5 months ago
Alternatives and similar repositories for mppc:
Users that are interested in mppc are comparing it to the libraries listed below
- Quaternion Model Predictive Control for Legged Robots☆30Updated 4 months ago
- A collection of MPC walking scripts with various models☆31Updated 2 weeks ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆38Updated 8 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 7 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆32Updated 2 years ago
- ☆32Updated 3 months ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- ☆21Updated last year
- ICRA 2022 paper☆33Updated 5 months ago
- An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK☆14Updated 7 months ago
- ☆44Updated 2 months ago
- Learning Model for Aggressive Jumping Maneuvers☆14Updated 2 weeks ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- Quadruped state estimation using kalman☆11Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆37Updated 3 years ago
- Using Drake to Simulate and Control Quadrupedal Robots☆30Updated 2 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆30Updated 3 months ago
- ☆16Updated 3 weeks ago
- ☆19Updated last year
- Real-Time Multi-Contact Model Predictive Control via ADMM☆41Updated last year
- A distributed whole-body model predictive control for quadruped robots☆26Updated 2 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆43Updated 2 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆45Updated 8 months ago
- Non-linear model predictive control (NMPC) library☆42Updated last year
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆87Updated 7 months ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- Torobo models and example scripts in MuJoCo☆53Updated 2 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆81Updated this week
- ☆14Updated 2 years ago