SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots
☆57May 14, 2024Updated last year
Alternatives and similar repositories for seiko_controller_code
Users that are interested in seiko_controller_code are comparing it to the libraries listed below
Sorting:
- Humanoid loco-manipulation controller☆34Feb 4, 2025Updated last year
- ☆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
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- 🐝 Borinot: Open-Source Aerial Robot for Hybrid Locomotion & Manipulation Research. Dive into the fusion of flight and contact dynamics!☆22Sep 9, 2025Updated 5 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 distributed whole-body model predictive control for quadruped robots☆77Apr 22, 2025Updated 10 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆76Sep 10, 2024Updated last year
- RL simulation and hardware control for Duke Humanoid V1☆66Jun 22, 2025Updated 8 months ago
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆44Jan 12, 2026Updated last month
- Open project for biped robot with c++. Cross OS, cross simulation platform or even real robot.☆89Apr 18, 2024Updated last year
- This repository contains Reinforcement Learning (RL) environments for the Upkie robot.☆22Updated this week
- Biped hardware control code☆23Oct 6, 2024Updated last year
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆312Mar 28, 2025Updated 10 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆167May 17, 2025Updated 9 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Feb 27, 2024Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆50Feb 19, 2023Updated 3 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- ☆12Apr 7, 2025Updated 10 months ago
- ☆14Apr 9, 2021Updated 4 years ago
- Official Github repository for "CHILD: a Whole-Body Humanoid Teleoperation System". (Humanoids 2025)☆39Jan 30, 2026Updated 3 weeks ago
- ☆52Mar 26, 2019Updated 6 years ago
- Toy implementations of algorithms for path planning, system modelling, optimal control, estimation, and more.☆22Jul 5, 2019Updated 6 years ago
- Bipedal locomotion software for the humanoid robot platform iCub.☆150Dec 15, 2025Updated 2 months ago
- Force control functions for robot control☆14Jun 23, 2025Updated 8 months ago
- A collection of awesome projects using MuJoCo.☆16May 27, 2025Updated 9 months ago
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 3 years ago
- Humanoid multi-contact motion controller☆40Feb 4, 2025Updated last year
- Model Predictive Control for Franka Panda Arm☆64Apr 16, 2023Updated 2 years ago
- Humanoid walking controller with various baseline methods☆157Oct 27, 2025Updated 4 months ago
- Sampling based control for kino-dynamic contact aware motion planning.☆34Mar 3, 2021Updated 4 years ago
- ☆38Jan 20, 2019Updated 7 years ago
- Analytical Contact Jacobian for bipedal robots using URDF☆17Nov 26, 2023Updated 2 years ago
- Here are some examples of walking pattern generators using Model predictive control.☆12Nov 8, 2023Updated 2 years ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆85Jun 17, 2025Updated 8 months ago
- ☆55Oct 26, 2024Updated last year
- Official implementation for paper "Adaptive Compliance Policy Learning Approximate Compliance for Diffusion Guided Control".☆108Oct 23, 2024Updated last year
- an intuitive optimization tool tailored to robotics, based on CasADi☆81Feb 12, 2026Updated 2 weeks ago