manumerous / wb_humanoid_mpcLinks
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
☆119Updated last week
Alternatives and similar repositories for wb_humanoid_mpc
Users that are interested in wb_humanoid_mpc are comparing it to the libraries listed below
Sorting:
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆68Updated 3 weeks ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆68Updated 3 months ago
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆108Updated last year
- A collection of MPC walking scripts with various models☆38Updated 5 months ago
- Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)☆93Updated last week
- ☆59Updated this week
- Towards better athletic intelligence☆26Updated last month
- Bipedal robot control using ocs2☆99Updated last week
- ☆48Updated 2 years ago
- Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"☆79Updated last month
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 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…☆83Updated last month
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆48Updated this week
- Collection of centroidal control for legged robots☆80Updated last month
- Codebase for Oracle Guided Multi-mode Policies in Isaac Lab☆14Updated 3 months ago
- Mujoco Gym environment for the control of quadruped robots☆43Updated last month
- 🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)☆129Updated this week
- MuJoCo interface for mc-rtc☆109Updated last week
- ☆43Updated 7 months ago
- Humanoid multi-contact motion controller☆37Updated 5 months ago
- Learning Agile Quadrupedal Locomotion on Challenging Terrains☆66Updated last year
- Humanoid loco-manipulation controller☆31Updated 5 months ago
- ☆79Updated last year
- This repository is an open-sourced code for the IROS 2024 paper.☆162Updated 4 months ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆50Updated last year
- ☆103Updated 2 months ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆63Updated 7 months ago
- Towards better athletic intelligence☆136Updated last week
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆45Updated 2 years ago
- Quadruped Tasks extension based on Isaac Lab.☆38Updated 3 weeks ago