A collection of MPC walking scripts with various models
☆45Feb 5, 2025Updated last year
Alternatives and similar repositories for MPC_benchmark
Users that are interested in MPC_benchmark are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆45Jul 6, 2026Updated 2 weeks ago
- ☆18Mar 2, 2025Updated last year
- Learning Model for Aggressive Jumping Maneuvers☆32Mar 5, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆70Jul 5, 2024Updated 2 years ago
- ICRA 2022 paper☆45Aug 30, 2024Updated last year
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- ☆61Oct 26, 2024Updated last year
- ☆31May 30, 2025Updated last year
- ☆20Sep 16, 2024Updated last year
- ☆360Apr 1, 2026Updated 3 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆77Feb 29, 2024Updated 2 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆177May 17, 2025Updated last year
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆89Jul 1, 2026Updated 2 weeks ago
- Trajectory optimization in MATLAB for MIT Cheetah☆44Sep 12, 2021Updated 4 years ago
- ☆22Nov 10, 2025Updated 8 months ago
- AI Agents on DigitalOcean Gradient AI Platform • AdBuild production-ready AI agents using customizable tools or access multiple LLMs through a single endpoint. Create custom knowledge bases or connect external data.
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆59May 14, 2024Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆56Feb 19, 2023Updated 3 years ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated 2 years ago
- ☆18Sep 16, 2022Updated 3 years ago
- Towards better athletic intelligence☆186Apr 18, 2026Updated 3 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆164Sep 9, 2025Updated 10 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Mar 20, 2020Updated 6 years ago
- Whole Body Control Algorithm Library☆16Dec 11, 2025Updated 7 months ago
- Collection of centroidal control for legged robots☆86Oct 23, 2025Updated 8 months ago
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆211Nov 26, 2025Updated 7 months ago
- A distributed whole-body model predictive control for quadruped robots☆88Apr 22, 2025Updated last year
- Quadruped Trajectory Optimization Stack (QTOS) is an optimization framework for legged locomotion that autonomously generates full-body t…☆25Sep 28, 2023Updated 2 years ago
- A versatile and efficient C++ library for real-time constrained trajectory optimization☆317Jul 8, 2026Updated last week
- ☆19Aug 28, 2025Updated 10 months ago
- Bipedal locomotion software for the humanoid robot platform iCub.☆159Feb 24, 2026Updated 4 months ago
- Differential Dynamic Programming and Iterative LQR in Drake☆82Jun 10, 2024Updated 2 years ago
- ☆14Apr 9, 2021Updated 5 years ago
- Hierachical Quadratic Problem solver☆13Oct 30, 2012Updated 13 years ago
- Deploy open-source AI quickly and easily - Special Bonus Offer • AdRunpod Hub is built for open source. One-click deployment and autoscaling endpoints without provisioning your own infrastructure.
- Personal legged_gym Unitree A1 implementation for paper 'Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Con…☆20Jun 20, 2024Updated 2 years ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆98Mar 27, 2023Updated 3 years ago
- System Identification For Constrained Robots☆28Feb 27, 2025Updated last year
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 2 years ago
- A flexible optimization framework for whole-body loco-manipulation, built with Pinocchio and CasADi. Supports multiple dynamics formulati…☆252Dec 28, 2025Updated 6 months ago
- code for SMAP: Self-supervised Motion Adaptation for Physically Plausible Humanoid Whole-body Control☆18May 26, 2025Updated last year
- ☆20Sep 10, 2025Updated 10 months ago