A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn
☆393Jan 5, 2025Updated last year
Alternatives and similar repositories for humanoid-control
Users that are interested in humanoid-control are comparing it to the libraries listed below. We may earn a commission when you buy through links labeled 'Ad' on this page.
Sorting:
- An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.☆567May 20, 2024Updated last year
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,614Feb 13, 2025Updated last year
- Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC☆522Jan 13, 2025Updated last year
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆84Dec 26, 2023Updated 2 years ago
- Optimal Control for Switched Systems☆1,323Mar 13, 2026Updated last week
- Virtual machines for every use case on DigitalOcean • AdGet dependable uptime with 99.99% SLA, simple security tools, and predictable monthly pricing with DigitalOcean's virtual machines, called Droplets.
- ☆191Oct 27, 2022Updated 3 years ago
- Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695☆1,907Jan 26, 2025Updated last year
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆314Mar 28, 2025Updated 11 months ago
- Bipedal robot control using ocs2☆118Jul 1, 2025Updated 8 months ago
- Deep RL for MPC control of Quadruped Robot Locomotion☆936Jul 18, 2025Updated 8 months ago
- ☆496Sep 13, 2024Updated last year
- Open project for biped robot with c++. Cross OS, cross simulation platform or even real robot.☆89Apr 18, 2024Updated last year
- Open Source Code for the IROS 2024 Paper☆218Sep 12, 2025Updated 6 months ago
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆483Mar 30, 2025Updated 11 months ago
- 1-Click AI Models by DigitalOcean Gradient • AdDeploy popular AI models on DigitalOcean Gradient GPU virtual machines with just a single click and start building anything your business needs.
- Whole-Body Dynamics Control Software Package for Humanoid Robots☆303May 27, 2025Updated 9 months ago
- ☆153Nov 27, 2024Updated last year
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆813May 14, 2024Updated last year
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆269Dec 27, 2025Updated 2 months ago
- ☆22Jun 12, 2023Updated 2 years ago
- ROS2 version of OCS2, refactor with modern-cmake☆148Mar 17, 2026Updated last week
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,187Updated this week
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆15Mar 20, 2020Updated 6 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆49Jun 7, 2024Updated last year
- NordVPN Special Discount Offer • AdSave on top-rated NordVPN 1 or 2-year plans with secure browsing, privacy protection, and support for for all major platforms.
- Humanoid Robots Resources☆880Mar 16, 2026Updated last week
- Humanoid walking controller with various baseline methods☆159Oct 27, 2025Updated 5 months ago
- ROS2-Control implementations for Quadruped robots, include sim2real☆484Feb 22, 2026Updated last month
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆949May 28, 2025Updated 9 months ago
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,360Updated this week
- ☆110Sep 22, 2024Updated last year
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆760Jul 17, 2024Updated last year
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆971Feb 21, 2025Updated last year
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- Proton VPN Special Offer - Get 70% off • AdSpecial partner offer. Trusted by over 100 million users worldwide. Tested, Approved and Recommended by Experts.
- unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym☆495Sep 27, 2024Updated last year
- Isaac Gym Environments for Legged Robots☆2,821May 29, 2025Updated 9 months ago
- ☆23Dec 16, 2024Updated last year
- A distributed whole-body model predictive control for quadruped robots☆81Apr 22, 2025Updated 11 months ago
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,009Nov 28, 2023Updated 2 years ago
- An open source implementation of MIT Cheetah 3 controllers☆812Dec 5, 2022Updated 3 years ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆93Mar 27, 2023Updated 2 years ago