mrsp / whole_body_ik
Whole body Inverse Kinematics based on Pinocchio and qpmad
☆32Updated last year
Alternatives and similar repositories for whole_body_ik:
Users that are interested in whole_body_ik are comparing it to the libraries listed below
- Humanoid multi-contact motion controller☆31Updated last month
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆66Updated last year
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- A dedicated solver for the capture problem initially presented in S. Caron, B. Mallein "Balance control using both ZMP and COM height var…☆12Updated 5 years ago
- Python Implementation of Planning and Control☆51Updated last year
- Generic whole body control library with QP: inverse dynamics and kinematics☆19Updated last year
- ☆30Updated 4 years ago
- YARP devices that implement estimators for humanoid robots.☆26Updated 3 weeks ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆16Updated 2 years ago
- Analytical formula of the wrench friction cone for surface contacts☆25Updated 4 years ago
- Collection of centroidal control for legged robots☆69Updated 7 months ago
- ☆39Updated 3 years ago
- Humanoid loco-manipulation controller☆30Updated last month
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆36Updated last week
- ICRA 2022 paper☆34Updated 6 months ago
- Standardised ROS messages for encoding whole-body state information☆13Updated last week
- Using Drake to Simulate and Control Quadrupedal Robots☆30Updated 3 years ago
- Walking controller based on linear inverted pendulum tracking☆19Updated last year
- Minimal project using Pinocchio as Rigid Body Dynamics library☆21Updated last week
- This a c++ implementation of a Time Invariant Linear Model Predictive Controller (LMPC) done in C++14 with python bindings☆36Updated last year
- An Open Source Task Solving library with Constraints☆22Updated 10 years ago
- Generic whole-body controller based on quadratic programming☆15Updated 5 months ago
- ☆21Updated last year
- System Identification For Constrained Robots☆10Updated 3 weeks ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆27Updated last week
- ☆24Updated last year
- Unified C++ interface for quadratic programming solvers☆55Updated last week
- Guidelines and notes about useful tools to analyze and optimize code☆33Updated last week
- simple mujoco ros.☆41Updated last month
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago