heli-sudoo / HKD-MPCView external linksLinks
A nonlinear MPC framework for agile and versatile quadruped locomotion
☆69Jul 5, 2024Updated last year
Alternatives and similar repositories for HKD-MPC
Users that are interested in HKD-MPC are comparing it to the libraries listed below
Sorting:
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- ☆17Sep 16, 2022Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Sep 12, 2021Updated 4 years ago
- ☆35Feb 7, 2022Updated 4 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 2 years ago
- ☆25May 30, 2025Updated 8 months 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 10 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆143Sep 9, 2025Updated 5 months ago
- A distributed whole-body model predictive control for quadruped robots☆77Apr 22, 2025Updated 9 months ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆310Mar 28, 2025Updated 10 months ago
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 4 years ago
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆50Feb 19, 2023Updated 2 years ago
- compare different algorithm☆18Apr 30, 2023Updated 2 years ago
- ☆55Oct 26, 2024Updated last year
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆83Nov 25, 2024Updated last year
- Work done in IHMC Robotics since Aug 2019☆61Sep 8, 2022Updated 3 years ago
- Representation-Free Model Predictive Control for Dynamic Quadruped☆235Feb 28, 2025Updated 11 months ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆140Nov 18, 2025Updated 2 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆48Jun 7, 2024Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆74Sep 10, 2024Updated last year
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆27Jul 30, 2022Updated 3 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆64Dec 10, 2022Updated 3 years ago
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆14Jun 23, 2023Updated 2 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆168May 17, 2025Updated 9 months ago
- Analytical formula of the wrench friction cone for surface contacts☆25May 4, 2020Updated 5 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆57May 14, 2024Updated last year
- Whole-Body Controller for quadrupedal robots with soft contacts constraints.☆17Jul 15, 2025Updated 7 months ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated last year
- ☆326Jan 14, 2026Updated last month
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 3 years ago
- Efficient optimal control solvers for robotic systems.☆308Dec 22, 2022Updated 3 years ago
- ☆220Jul 8, 2023Updated 2 years ago
- Towards better athletic intelligence☆176Jan 31, 2026Updated 2 weeks ago
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆911Jan 17, 2026Updated 3 weeks ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Jan 12, 2026Updated last month
- an intuitive optimization tool tailored to robotics, based on CasADi☆81Jan 29, 2026Updated 2 weeks ago
- A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or…☆422Jan 19, 2026Updated 3 weeks ago
- Natural Locomotion, Jumping and Recovery of Quadruped Robot A1 with AMP☆197May 12, 2023Updated 2 years ago