A nonlinear MPC framework for agile and versatile quadruped locomotion
☆70Jul 5, 2024Updated 2 years ago
Alternatives and similar repositories for HKD-MPC
Users that are interested in HKD-MPC are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- ☆18Sep 16, 2022Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆44Sep 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
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- compare different algorithm☆18Apr 30, 2023Updated 3 years ago
- ☆32May 30, 2025Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆57Feb 19, 2023Updated 3 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆45Apr 7, 2025Updated last year
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆344Mar 28, 2025Updated last year
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆166Sep 9, 2025Updated 10 months ago
- Work done in IHMC Robotics since Aug 2019☆62Sep 8, 2022Updated 3 years ago
- A distributed whole-body model predictive control for quadruped robots☆88Apr 22, 2025Updated last year
- 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.
- Representation-Free Model Predictive Control for Dynamic Quadruped☆240Feb 28, 2025Updated last year
- Extend Differential Dynamic Programming (DDP) to be applicable to hybrid systems of fixed sequence and timings. Examples including an app…☆14Jun 23, 2023Updated 3 years ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆88Nov 25, 2024Updated last year
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 5 years ago
- Batched SRBD-MPC tailored for learning and model-based combined research.☆21Oct 30, 2025Updated 8 months ago
- ☆61Oct 26, 2024Updated last year
- Quadruped state estimation using kalman☆20Nov 27, 2022Updated 3 years ago
- A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control☆147Nov 18, 2025Updated 8 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆177May 17, 2025Updated last year
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆54Jun 7, 2024Updated 2 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆70Dec 10, 2022Updated 3 years ago
- Efficient optimal control solvers for robotic systems.☆312Dec 22, 2022Updated 3 years ago
- ☆227Jul 8, 2023Updated 3 years ago
- AHMP: Agile Humanoid Motion Planning with Contact Sequence Discovery☆39Feb 21, 2026Updated 5 months ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆25Apr 10, 2024Updated 2 years ago
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆27Jul 30, 2022Updated 3 years ago
- Analytical formula of the wrench friction cone for surface contacts☆26May 4, 2020Updated 6 years ago
- Whole-Body Controller for quadrupedal robots with soft contacts constraints.☆18Jul 15, 2025Updated last year
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- Software tools for agile quadrupeds, developed by the Robomechanics Lab at Carnegie Mellon University.☆960Updated this week
- Open Source Code for the IROS 2024 Paper☆228Sep 12, 2025Updated 10 months ago
- ☆360Apr 1, 2026Updated 3 months ago
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Apr 8, 2024Updated 2 years ago
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 4 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆45Jul 21, 2026Updated last week
- ☆193Oct 27, 2022Updated 3 years ago