linzhuyue / legged_control
(Modified to Free-Dog-SDK) Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls
☆12Updated last year
Alternatives and similar repositories for legged_control:
Users that are interested in legged_control are comparing it to the libraries listed below
- Planning framework for legged locomotion☆19Updated 8 months ago
- Software tools for agile quadrupeds (Unitree Go1)☆12Updated last year
- Quaternion Model Predictive Control for Legged Robots☆33Updated 6 months ago
- Quadruped state estimation using kalman☆12Updated 2 years ago
- ☆36Updated 9 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆23Updated last year
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆24Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆36Updated 2 years ago
- Quadruped Robot Planning ROS Package☆22Updated last year
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆46Updated 9 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆39Updated 9 months ago
- ☆22Updated last year
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆16Updated 2 years ago
- Repository including all instructions and tutorials how to use the legged locomotion library (L3)☆21Updated 2 years ago
- ☆19Updated last year
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- This Project extends the concepts of the Anymal C robot developed by the ANYmal group and uses the simulation of this robot coupled with …☆13Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆60Updated 8 months ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆61Updated 2 years ago
- ☆65Updated 10 months ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆21Updated 6 months ago
- State estimator for legged robots using Optimization, Kalman filtering, and Learning☆23Updated 11 months ago
- ☆12Updated last month
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- ☆18Updated last year
- ros-control interface and basic controllers for quadruped robot☆45Updated 2 years ago
- ☆93Updated 2 years ago
- Non-linear model predictive control (NMPC) library☆48Updated last month
- ☆43Updated 6 months ago