A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn
☆410Jan 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.☆580May 20, 2024Updated 2 years ago
- NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls☆1,735Feb 13, 2025Updated last year
- Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC☆532Jan 13, 2025Updated last year
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆85Dec 26, 2023Updated 2 years ago
- Optimal Control for Switched Systems☆1,453May 14, 2026Updated last month
- Deploy on Railway without the complexity - Free Credits Offer • AdConnect your repo and Railway handles the rest with instant previews. Quickly provision container image services, databases, and storage volumes.
- ☆193Oct 27, 2022Updated 3 years ago
- Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695☆2,029Jan 26, 2025Updated last year
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆341Mar 28, 2025Updated last year
- Deep RL for MPC control of Quadruped Robot Locomotion☆999Apr 26, 2026Updated 2 months ago
- Bipedal robot control using ocs2☆123Jul 1, 2025Updated last year
- ☆513Sep 13, 2024Updated last year
- Open project for biped robot with c++. Cross OS, cross simulation platform or even real robot.☆90Apr 18, 2024Updated 2 years ago
- [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots☆494Mar 30, 2025Updated last year
- Open Source Code for the IROS 2024 Paper☆225Sep 12, 2025Updated 9 months ago
- Simple, predictable pricing with DigitalOcean hosting • AdAlways know what you'll pay with monthly caps and flat pricing. Enterprise-grade infrastructure trusted by 600k+ customers.
- Whole-Body Dynamics Control Software Package for Humanoid Robots☆337May 27, 2025Updated last year
- ☆161Nov 27, 2024Updated last year
- Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control☆883May 14, 2024Updated 2 years ago
- Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control☆338Dec 27, 2025Updated 6 months ago
- ☆22Jun 12, 2023Updated 3 years ago
- Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…☆1,250Updated this week
- ROS2 version of OCS2, refactor with modern-cmake☆166Jun 23, 2026Updated last week
- Humanoid Robots Resources☆932Mar 16, 2026Updated 3 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Mar 20, 2020Updated 6 years ago
- 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.
- Humanoid walking controller with various baseline methods☆164Mar 25, 2026Updated 3 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆54Jun 7, 2024Updated 2 years ago
- ROS2-Control implementations for Quadruped robots, include sim2real☆539Feb 22, 2026Updated 4 months ago
- Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …☆982May 28, 2025Updated last year
- Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.☆1,421May 2, 2026Updated 2 months ago
- ☆117Sep 22, 2024Updated last year
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"☆814Jul 17, 2024Updated last year
- Isaac Gym Environments for Legged Robots☆3,029May 29, 2025Updated last year
- unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym☆521Sep 27, 2024Updated last year
- Deploy open-source AI quickly and easily - Special Bonus Offer • AdRunpod Hub is built for open source. One-click deployment and autoscaling endpoints without provisioning your own infrastructure.
- A collection of MPC walking scripts with various models☆45Feb 5, 2025Updated last year
- [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…☆1,029Feb 21, 2025Updated last year
- ☆23Dec 16, 2024Updated last year
- A distributed whole-body model predictive control for quadruped robots☆87Apr 22, 2025Updated last year
- An open source implementation of MIT Cheetah 3 controllers☆824Dec 5, 2022Updated 3 years ago
- Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots…☆1,370May 27, 2026Updated last month
- [ICRA 2024]: Train your parkour robot in less than 20 hours.☆1,104Nov 28, 2023Updated 2 years ago