mayataka / legged_state_estimatorLinks
C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.
☆42Updated 2 years ago
Alternatives and similar repositories for legged_state_estimator
Users that are interested in legged_state_estimator are comparing it to the libraries listed below
Sorting:
- Probabilistic Contact State Estimation for Legged Robots in ROS☆76Updated 7 months ago
- Quaternion Model Predictive Control for Legged Robots☆59Updated 9 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 3 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆40Updated 3 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆27Updated 2 years ago
- ☆100Updated 2 years ago
- ☆43Updated 2 years ago
- ICRA 2022 paper☆39Updated 10 months ago
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- ☆33Updated 3 years ago
- ☆39Updated 8 months ago
- ☆22Updated last month
- ☆52Updated 6 years ago
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆157Updated last month
- Rviz plugins to display whole-body states and trajectories☆70Updated 2 weeks ago
- A collection of MPC walking scripts with various models☆38Updated 5 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆69Updated last year
- Quadruped state estimation using kalman☆15Updated 2 years ago
- Planning framework for legged locomotion☆19Updated last year
- ☆27Updated 6 months ago
- ☆44Updated 3 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆34Updated 2 months ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆22Updated last month
- ☆27Updated 3 years ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 7 months ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆27Updated 3 years ago
- Non-linear model predictive control (NMPC) library☆53Updated last month
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆50Updated last year