linzhuyue / legged_controlLinks
(Modified to Free-Dog-SDK) Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
☆16Updated last year
Alternatives and similar repositories for legged_control
Users that are interested in legged_control are comparing it to the libraries listed below
Sorting:
- Quadruped state estimation using kalman☆16Updated 2 years ago
- Planning framework for legged locomotion☆19Updated last year
- Quaternion Model Predictive Control for Legged Robots☆62Updated last month
- ☆108Updated 2 years ago
- Software tools for agile quadrupeds (Unitree Go1)☆16Updated last year
- Robust Reinforcement Learning-Based Locomotion for Resource-Constrained Quadrupeds with Exteroceptive Sensing☆49Updated 2 weeks ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆25Updated last year
- This Project extends the concepts of the Anymal C robot developed by the ANYmal group and uses the simulation of this robot coupled with …☆14Updated 2 years ago
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆38Updated last year
- ☆72Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆45Updated 2 years ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆67Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆78Updated 10 months ago
- ☆20Updated last year
- State estimator for legged robots using Optimization, Kalman filtering, and Learning☆30Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆41Updated 4 years ago
- ☆28Updated last year
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 4 months ago
- ☆28Updated last year
- ☆21Updated 2 years ago
- compare different algorithm☆18Updated 2 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 2 years ago
- This repo contains implementation of the paper "Learning Robust Quadrupedal Locomotion With Implicit Terrain Imagination via Deep Reinfor…☆33Updated last month
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆24Updated 2 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆58Updated 2 years ago
- A State Estimation Package for Quadruped Robots, that fuses Proprioceptive and Exteroceptive data☆79Updated 2 weeks ago
- Real-time and efficient polygonal mapping designed for humanoid robots.☆56Updated 10 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Updated 6 months ago
- A distributed whole-body model predictive control for quadruped robots☆67Updated 5 months ago
- Official implementation of "Learning Forward Dynamics Model and Informed Trajectory Sampler for Safe Quadruped Navigation" (RSS 2022)☆78Updated 3 years ago