mx0922 / tutorials_trajOptim_MPCLinks
Some tutorials of trajectory optimization (TO) and model predictive control (MPC) for legged robots.
☆18Updated last year
Alternatives and similar repositories for tutorials_trajOptim_MPC
Users that are interested in tutorials_trajOptim_MPC are comparing it to the libraries listed below
Sorting:
- A collection of MPC walking scripts with various models☆37Updated 4 months ago
- A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn☆18Updated 3 months ago
- Learning Model for Aggressive Jumping Maneuvers☆16Updated 3 months ago
- Trajectory Optimization for Legged Robots by matlab and Casadi☆11Updated last year
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆49Updated last year
- Analytical Contact Jacobian for bipedal robots using URDF☆15Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- Matlab implementation of contact-implicit trajectory optimization based on a variable smooth contact model and iLQR☆15Updated 4 years ago
- Whole-Body Model-Predictive Control of Legged Robots with MuJoCo☆49Updated 2 months ago
- ☆18Updated 6 months ago
- LTV MPC for Quadruped Locomotion☆14Updated last year
- ☆10Updated 4 months ago
- pybullet WBC quadruped robot☆10Updated 3 years ago
- Codebase for Oracle Guided Multi-mode Policies in Isaac Lab☆13Updated 2 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago
- ☆11Updated last month
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆48Updated 4 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆37Updated this week
- Quaternion Model Predictive Control for Legged Robots☆56Updated 8 months ago
- Policy Regularized Model Predictive Control simulated by matlab☆15Updated last year
- Model Predictive Control for Franka Panda Arm☆42Updated 2 years ago
- ICRA 2022 paper☆39Updated 9 months ago
- ☆33Updated 3 years ago
- Humanoid loco-manipulation controller☆31Updated 4 months ago
- ☆10Updated 7 months ago
- System Identification For Constrained Robots☆11Updated 3 months ago
- Force control functions for robot control☆13Updated last month
- ☆16Updated 3 months ago
- ☆22Updated 3 weeks ago