iit-DLSLab / DWMPCLinks
A distributed whole-body model predictive control for quadruped robots
☆65Updated 5 months ago
Alternatives and similar repositories for DWMPC
Users that are interested in DWMPC are comparing it to the libraries listed below
Sorting:
- Quaternion Model Predictive Control for Legged Robots☆62Updated 3 weeks ago
- Model Predictive Control in JAX☆107Updated last week
- ☆47Updated 11 months ago
- Mujoco Gym environment for the control of quadruped robots☆50Updated 3 weeks ago
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆83Updated 3 months ago
- Collection of centroidal control for legged robots☆79Updated 4 months ago
- ☆23Updated 4 months ago
- We present the first successful deployment of a whole-body sampling-based MPC system on a real-world quadruped robot. Our approach enable…☆115Updated 4 months ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆45Updated 2 years ago
- A collection of MPC walking scripts with various models☆42Updated 7 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- ICRA 2022 paper☆39Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆68Updated last year
- Towards better athletic intelligence☆26Updated 3 weeks ago
- ☆60Updated this week
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 5 months ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆164Updated 4 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆41Updated 4 years ago
- ☆33Updated 3 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Updated last year
- Updated Version of Optimal Control for Switched Systems (OCS2)☆19Updated 7 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆52Updated last year
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆42Updated last week
- ☆107Updated 2 years ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆125Updated 3 weeks ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 10 months ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆58Updated 2 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆87Updated 2 weeks ago
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆54Updated this week
- ☆38Updated 2 years ago