prisma-lab / WBC-quadruped-DOB
A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots
☆25Updated 2 years ago
Alternatives and similar repositories for WBC-quadruped-DOB:
Users that are interested in WBC-quadruped-DOB are comparing it to the libraries listed below
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆37Updated 2 years ago
- ☆27Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated 10 months ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆40Updated 3 weeks ago
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- ☆31Updated 3 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆62Updated 10 months ago
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆32Updated 4 years ago
- ☆42Updated last year
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆16Updated 2 years ago
- Quaternion Model Predictive Control for Legged Robots☆41Updated 7 months ago
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆11Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆38Updated 3 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆62Updated 2 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
- Memmo Winter-school material for the Pinocchio class☆15Updated 6 years ago
- ☆48Updated 6 years ago
- UDRF model of CASSIE robot☆36Updated 6 years ago
- Work done in IHMC Robotics since Aug 2019☆57Updated 2 years ago
- Quadruped state estimation using kalman☆12Updated 2 years ago
- ☆44Updated 2 years ago
- compare different algorithm☆17Updated 2 years ago
- Legged State Estimation Library☆17Updated 11 years ago
- ☆18Updated 2 weeks ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆26Updated 5 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆67Updated last year
- Probabilistic Contact State Estimation for Legged Robots in ROS☆73Updated 4 months ago
- ICRA 2022 paper☆35Updated 8 months ago
- ☆12Updated 4 years ago
- Papers on robot reinforcement learning recently.☆8Updated 3 years ago