mbiselx / LeggedRobots
Miniprojects for the MICRO-507 : Legged Robots course
☆11Updated 2 years ago
Related projects: ⓘ
- Robotics class @ Supaero 2021☆11Updated 2 years ago
- A mini racetrack world for developing and testing robots with AWS RoboMaker and Gazebo simulations.☆15Updated 4 years ago
- ☆27Updated last year
- Generic whole body control library with QP: inverse dynamics and kinematics☆17Updated last year
- ☆17Updated last year
- Analytical formula of the wrench friction cone for surface contacts☆23Updated 4 years ago
- ☆15Updated last year
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆12Updated 2 years ago
- Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"☆11Updated 3 years ago
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆35Updated last year
- [IROS 2022] A Solution to Adaptive Mobile Manipulator Throwing☆23Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Augmenting dynamical systems by combining them with deep reinforcement learning in order to improve their final performance.☆12Updated 3 years ago
- Collision-Free Mixed-Integer Planning for Quadrotors Using Convex Safe Regions☆14Updated 4 years ago
- [NeurIPS 2021 DDM Workshop] A hybrid control strategy for combining deep RL and classical robotic controllers☆28Updated last year
- ☆15Updated 11 months ago
- SaRA: A Tool for Safe Human-Robot Co-existence and Collaboration through Reachability Analysis☆14Updated this week
- Globally Safe Model-free Exploration of Dynamical Systems☆28Updated 3 months ago
- ☆14Updated last year
- Hacks for working with drake in ROS 2, inspired by https://github.com/EricCousineau-TRI/repro/tree/master/ros/drake_ros1_hacks - Most of …☆16Updated 3 years ago
- Model predictive control in Python based on quadratic programming☆31Updated 3 weeks ago
- Receding Horizon Task and Motion Planning☆8Updated 3 years ago
- Trajectory optimization code for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors"☆21Updated last year
- Model predictive control based on data-driven model☆22Updated last year
- ☆21Updated 3 years ago
- ☆10Updated 7 months ago
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 4 years ago
- Sampling based control for kino-dynamic contact aware motion planning.☆16Updated 3 years ago
- An open source robot reinforcement learing plantform using stable-baselines and OpenAI Gym☆10Updated last year
- Repository to store all necessary packages for common manipulator integrations☆16Updated 9 months ago