mayataka / legged_state_estimatorLinks
C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.
☆40Updated 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:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆75Updated 6 months ago
- Quaternion Model Predictive Control for Legged Robots☆58Updated 8 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆26Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 2 months ago
- ☆22Updated 3 weeks ago
- ICRA 2022 paper☆39Updated 9 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆16Updated 2 years ago
- ☆43Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 months ago
- ☆38Updated 8 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆57Updated 6 months ago
- ☆33Updated 3 years ago
- Legged State Estimation Library☆17Updated 11 years ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆30Updated last month
- ☆44Updated 3 years ago
- A collection of MPC walking scripts with various models☆37Updated 4 months ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆28Updated 7 months ago
- ☆27Updated 3 years ago
- ☆100Updated 2 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆22Updated last month
- Implementation of the sl1m solver for multi contact planning☆19Updated 2 years ago
- ☆16Updated 3 months ago
- ☆13Updated 2 years ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆68Updated last year
- ☆35Updated 2 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆49Updated last year