dfki-ric-underactuated-lab / mppcLinks
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
☆23Updated 3 months ago
Alternatives and similar repositories for mppc
Users that are interested in mppc are comparing it to the libraries listed below
Sorting:
- An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK☆16Updated last year
- ☆42Updated 9 months ago
- Quaternion Model Predictive Control for Legged Robots☆61Updated 10 months ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆19Updated 3 years ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 9 months ago
- A distributed whole-body model predictive control for quadruped robots☆57Updated 4 months ago
- ☆17Updated 5 months ago
- Model Predictive Control in JAX☆100Updated last week
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 4 months ago
- A collection of MPC walking scripts with various models☆39Updated 6 months ago
- ☆20Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆17Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆66Updated last year
- ICRA 2022 paper☆39Updated 11 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆40Updated 3 years ago
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆33Updated 3 months ago
- Toy implementations of algorithms for path planning, system modelling, optimal control, estimation, and more.☆22Updated 6 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆44Updated 2 years ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- ☆23Updated 2 months ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆42Updated this week
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆103Updated 3 months ago
- Generic whole-body controller based on quadratic programming☆19Updated 10 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆51Updated last year
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆20Updated 3 years ago
- Quadruped state estimation using kalman☆16Updated 2 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆63Updated 8 months ago
- ☆21Updated 4 months ago
- Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding☆16Updated 3 months ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆38Updated 3 weeks ago