orsoromeo / jet-leg
This is an open-source python package that shows how to compute the Feasible Region, i.e. the extension of the well known support region to include joint-torque limits constraints. The details are explained in this preprint:
☆19Updated last month
Alternatives and similar repositories for jet-leg:
Users that are interested in jet-leg are comparing it to the libraries listed below
- C++ library for optimization-based control of redundant robots☆56Updated last week
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆87Updated last week
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 4 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆39Updated 9 months ago
- ☆33Updated 5 months ago
- A distributed whole-body model predictive control for quadruped robots☆33Updated 3 months ago
- Implementation of numerical solvers used in the Machines in Motion Laboratory☆52Updated last week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆66Updated last year
- Reinforcement learning framework from RSL for policy training with RaiSim.☆55Updated 2 years ago
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆25Updated 3 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆36Updated 2 years ago
- ROS-based MuJoCo utilities☆28Updated last month
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- Learn how to design a footstep planner for humanoid robots, breaking down the entire process step by step: 2D footsteps planning, 3D feet…☆12Updated 2 months ago
- A Contact-Implicit Trajectory Optimization Package☆42Updated last year
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆21Updated 6 months ago
- ☆27Updated 3 years ago
- Demo scripts to quickly start with Crocoddyl☆19Updated 8 months ago
- Compile xacro files to URDF or MJCF from Python or the command line (no ROS required).☆42Updated last week
- A Reinforcement Learning Software Toolbox for Robotics☆53Updated 2 years ago
- ICRA 2022 paper☆35Updated 7 months ago
- ☆60Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Collection of workflows, best-practices and guidelines for software development.☆28Updated last year
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated last year
- ☆8Updated 3 years ago
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆29Updated last week
- A collection of MPC walking scripts with various models☆34Updated last month
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆60Updated 8 months ago