(Modified to Free-Dog-SDK) Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
☆15Nov 6, 2023Updated 2 years ago
Alternatives and similar repositories for legged_control
Users that are interested in legged_control are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- ☆71Nov 13, 2023Updated 2 years ago
- An add-on pressure sensor module for the unitree GO2 for foot contact detection☆14Feb 1, 2026Updated 9 months ago
- ☆14Sep 30, 2023Updated 3 years ago
- SLAM-Map-Compression-OR-Tools☆13Sep 23, 2023Updated 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 3 years ago
- GPU virtual machines on DigitalOcean Gradient AI • AdGet to production fast with high-performance AMD and NVIDIA GPUs you can spin up in seconds. The definition of operational simplicity.
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Apr 8, 2024Updated 2 years ago
- ☆17Nov 7, 2023Updated 2 years ago
- G-VOM: A GPU Accelerated Voxel Off-Road Mapping System☆16Nov 27, 2024Updated last year
- Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.☆26Apr 13, 2024Updated 2 years ago
- Planning framework for legged locomotion☆20Jul 12, 2024Updated 2 years ago
- InGM-LIO: A Multiscale Gaussian Model-Based LiDAR-Inertial Odometry Using Invariant Kalman Filtering.☆11Sep 19, 2024Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆72Jul 5, 2024Updated 2 years ago
- My SLAM-related note archive (English version)☆10Jun 27, 2024Updated 2 years ago
- Constrained Differential Dynamic Programming Solver for Trajectory Optimization and Model Predictive Control☆95Jul 8, 2026Updated 3 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.
- This package implements a Model Predictive Control (MPC) node using CasADi in a ROS2 environment.☆20Mar 6, 2025Updated last year
- Our deployment code for QRC in IROS2024.🥇☆13Mar 11, 2026Updated 7 months ago
- ROS2 Humble CDDP-MPC package without any addtional installation☆19Apr 20, 2026Updated 6 months ago
- A ROS 2 package for controlling the Unitree Go1 robot in both high level and low level modes☆29Feb 9, 2025Updated last year
- A simple implementation of paper "A Fast Histogram-Based Similarity Measure for Detecting Loop Closures in 3-D LIDAR Data"☆12Jun 6, 2019Updated 7 years ago
- ROS1 Package Using FIS-IESKF Method for Muti-Sensor Fusion Location(Fused Wheel Odometry, Inertial Odometry, Visual Odometry)☆12Nov 8, 2024Updated last year
- Multi-resolution SeqMatch based long-term Place Recognition☆12Mar 12, 2022Updated 4 years ago
- ☆11Mar 15, 2022Updated 4 years ago
- This is the demo code of our work "A Base Map-Guided Global Localization Solution for Heterogeneous Multi-Robot Systems Using a Co-View C…☆13Jun 4, 2024Updated 2 years ago
- Serverless GPU API endpoints on Runpod - Get Bonus Credits • AdSkip the infrastructure headaches. Auto-scaling, pay-as-you-go, no-ops approach lets you focus on innovating your application.
- Quantitative 3D Map Accuracy Evaluation Hardware and Algorithm for LiDAR(-Inertial) SLAM [IEEE ICCAS 2024]☆30Jul 6, 2026Updated 3 months ago
- Quaternion Model Predictive Control for Legged Robots☆79Sep 11, 2025Updated last year
- ☆47Sep 29, 2024Updated 2 years ago
- Safe MPC using Learned Viability☆15Aug 31, 2026Updated 2 months ago
- ☆221Feb 12, 2024Updated 2 years ago
- Visual odometry system for robot pose estimation.☆12Aug 7, 2025Updated last year
- Modelling, Estimation and Identification of Humanoid Robots Dynamics: Silvio Traversaro's PhD Thesis.☆13Nov 18, 2024Updated last year
- ☆130Sep 19, 2024Updated 2 years ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆24Apr 10, 2024Updated 2 years ago
- Deploy to Railway using AI coding agents - Free Credits Offer • AdUse Claude Code, Codex, OpenCode, and more. Autonomous software development now has the infrastructure to match with Railway.
- Official implemetation of "Off-Road LiDAR Intensity based Semantic Segmentation☆12Oct 10, 2024Updated 2 years ago
- A simple localization framework that can re-localize in built maps based on POINT-LIO. This fork works with ROS Noetic (and Python3)☆19Sep 11, 2024Updated 2 years ago
- SeSaMe TAMP + Learning integrated with a Spot robot!☆30Jun 12, 2026Updated 4 months ago
- Terrain mapping algorithm for motion planning and control in legged locomotion☆35Apr 17, 2018Updated 8 years ago
- 宇树科技 Yushu Technology (Unitree) go1 development notes☆473Apr 1, 2025Updated last year
- Pipeline for spatio-temporal consistent mapping in highly dynamic environments☆27Sep 1, 2026Updated 2 months ago
- This is an unofficial python implement of nonlinear model predictive control with control Lyapunov functions and control barrier function…☆40Aug 25, 2021Updated 5 years ago