mx0922 / tutorials_trajOptim_MPC
Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.
☆14Updated 11 months 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
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆14Updated 4 years ago
- Trajectory Optimization for Legged Robots by matlab and Casadi☆9Updated 11 months ago
- Learning Model for Aggressive Jumping Maneuvers☆14Updated 2 weeks ago
- Algorithm for multiple-shooting differential dynamic programming (MS-DDP) implemented in MATLAB, with a few robotics examples.☆17Updated 11 months ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 8 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆38Updated 3 years ago
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆47Updated 4 years ago
- A collection of MPC walking scripts with various models☆34Updated last month
- Policy Regularized Model Predictive Control simulated by matlab☆13Updated 11 months ago
- compare different algorithm☆17Updated last year
- ☆32Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆45Updated 10 months ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆82Updated last year
- ☆15Updated 4 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆46Updated 9 months ago
- ☆95Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆51Updated 6 months ago
- Analytical Contact Jacobian for bipedal robots using URDF☆13Updated last year
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆27Updated 10 months ago
- Some Must Read Papers on Optimal Controls of Bipedal Robots☆11Updated 7 months ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆74Updated last year
- ☆31Updated last year
- Bipedal robot control using ocs2☆87Updated 6 months ago
- A repo for mpc learner.☆16Updated last year
- I provided a matlab program that can generate the single leg Lagrangian symbolic formula of the quadruped robot☆14Updated last year
- ☆31Updated 3 years ago
- Height Control and Optimal Torque Planning for Jumping with Wheeled-Bipedal Robots☆44Updated last year
- Some good robot reinforcement learning projects and papers☆36Updated 11 months ago
- ☆44Updated 2 years ago