Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.
☆25Apr 13, 2024Updated 2 years ago
Alternatives and similar repositories for tutorials_trajOptim_MPC
Users that are interested in tutorials_trajOptim_MPC are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- Trajectory Optimization for Legged Robots by matlab and Casadi☆12Apr 8, 2024Updated 2 years ago
- whole body control QP solver with full friction cones☆13Nov 5, 2024Updated last year
- Quaternion Model Predictive Control for Legged Robots☆78Sep 11, 2025Updated last year
- A common interface and utilities for implementing visualizers for Pinocchio in C++.☆11Feb 12, 2025Updated last year
- ☆52Mar 26, 2019Updated 7 years ago
- Managed Kubernetes at scale on DigitalOcean • AdDigitalOcean Kubernetes includes the control plane, bandwidth allowance, container registry, automatic updates, and more for free.
- This package implements a Model Predictive Control (MPC) node using CasADi in a ROS2 environment.☆21Mar 6, 2025Updated last year
- Motion Retargeting from Human Motion to Humanoid Robots Based on Gradient Descent with a User-Friendly Interface☆16Jul 14, 2025Updated last year
- Arm Obstacle Avoidance Using Potential Filed in Isaac Lab☆18Feb 19, 2025Updated last year
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆51Oct 3, 2023Updated 2 years ago
- a toolkit for training privileged humanoid controllers☆107Updated this week
- Reverse Curriculum RL approach for robodog climbing on a skateboard☆35Jul 13, 2026Updated 2 months ago
- Controller implementation for mujoco, based on https://github.com/kevinzakka/mjctrl☆47Apr 30, 2026Updated 4 months ago
- Official implementation of HEAD CoRL 2025☆27Aug 22, 2025Updated last year
- AHMP: Agile Humanoid Motion Planning with Contact Sequence Discovery☆40Feb 21, 2026Updated 6 months ago
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click. Zero configuration with optimized deployments.
- Policy Regularized Model Predictive Control simulated by matlab☆16Apr 8, 2024Updated 2 years ago
- Fast contact-implicit model predictive control for robotic systems that make and break contact with their environments.☆164Dec 14, 2022Updated 3 years ago
- This repository is for tracking progress of bimanual manipulation for different tasks.☆22Nov 27, 2025Updated 9 months ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆19Aug 30, 2023Updated 3 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆71Jul 5, 2024Updated 2 years ago
- Isaac Lab locomotion tasks for the Kangaroo robot☆21Aug 22, 2025Updated last year
- Description, communication, planning, and control of dual-UR10e collaborative robot.☆17Jul 23, 2025Updated last year
- ROS2 Humble CDDP-MPC package without any addtional installation☆19Apr 20, 2026Updated 5 months ago
- Modelling, Estimation and Identification of Humanoid Robots Dynamics: Silvio Traversaro's PhD Thesis.☆13Nov 18, 2024Updated last year
- Wordpress hosting with auto-scaling - Free Trial Offer • AdFully Managed hosting for WordPress and WooCommerce businesses that need reliable, auto-scalable performance. Cloudways SafeUpdates now available.
- Dead Reckoning In Field Time: Symmetry-Preserving State Estimation Library for Various Robotic Platforms☆183Jun 1, 2026Updated 3 months ago
- Sampling based control for kino-dynamic contact aware motion planning.☆41Mar 3, 2021Updated 5 years ago
- It's a double-armed mobile cart that uses a WheelTec chassis and two UR3 robotic arms.☆13May 23, 2024Updated 2 years ago
- Towards better athletic intelligence☆190Apr 18, 2026Updated 5 months ago
- ☆16Feb 15, 2025Updated last year
- ☆26Feb 23, 2025Updated last year
- Chance-Constrained MPC simulation for quadrupedal robots navigating uneven terrains and handling random payloads.☆32Aug 14, 2025Updated last year
- Trajectory Optimization for Challenging Maneuvers on Humanoid Robots☆90Jun 17, 2025Updated last year
- Humanoid loco-manipulation controller☆38Feb 4, 2025Updated last year
- Managed hosting for WordPress and PHP on Cloudways • AdManaged hosting for WordPress, Magento, Laravel, or PHP apps, on multiple cloud providers. Deploy in minutes on Cloudways by DigitalOcean.
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- A convex-set-based approach to manipulator trajectory planning☆17Apr 24, 2025Updated last year
- Inverse Kinematics-based Model Predictive Control for Robot Motion Planning☆21Apr 3, 2026Updated 5 months ago
- A ROS based Graphic User Interface to collectively control a multi-agent robotic system☆10Feb 24, 2017Updated 9 years ago
- ☆27Sep 7, 2026Updated last week
- A legged robots learning library based on IsaacLab☆33Feb 20, 2025Updated last year
- A simple Image Based Visual Servoing (IBVS) simulation in pybullet☆14Mar 2, 2026Updated 6 months ago