prisma-lab / WBC-quadruped-DOBView external linksLinks
A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots
☆28Dec 15, 2022Updated 3 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
Sorting:
- pybullet WBC quadruped robot☆13Apr 5, 2022Updated 3 years ago
- mpc and wbc for mini cheetah in pybullet☆57Nov 20, 2020Updated 5 years ago
- Hierachical Quadratic Problem solver☆12Oct 30, 2012Updated 13 years ago
- ☆52Mar 26, 2019Updated 6 years ago
- Quadruped Tasks extension based on Isaac Lab.☆48Jul 18, 2025Updated 6 months ago
- Use QP and whole-body PID to control a 12DOF robot dog.☆43Jul 30, 2019Updated 6 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆42Apr 7, 2025Updated 10 months ago
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆74Sep 10, 2024Updated last year
- Develop a quadruped robot locomotion control system☆29Aug 3, 2020Updated 5 years ago
- SPARK and FLAME: two learning-for-motion-planning frameworks for High-DOF Robots☆23Jun 27, 2023Updated 2 years ago
- A distributed whole-body model predictive control for quadruped robots☆77Apr 22, 2025Updated 9 months ago
- MIT Cheetah仿真平台源码笔记以及一部分第三方组件☆141Feb 11, 2022Updated 4 years ago
- 四足机器人仿真，使用VMC算法☆39Apr 25, 2022Updated 3 years ago
- DexGANGrasp: Dexterous Generative Adversarial Grasping Synthesis for Task-Oriented Manipulation - IEEE-RAS International Conference on Hu…☆11Oct 15, 2024Updated last year
- Joint trajectory planning for constrained manipulation using the Closed-Chain Affordance framework by Janak Panthi☆11Jan 19, 2026Updated 3 weeks ago
- 4 legged robot project of 강남Dynamics Lab☆42Oct 12, 2020Updated 5 years ago
- Model Predictive Control in JAX☆175Updated this week
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- quadrupedal robot simulation☆21Jul 23, 2019Updated 6 years ago
- ☆23Sep 16, 2025Updated 4 months ago
- ☆13May 30, 2021Updated 4 years ago
- Learning Robot Locomotion from Diverse Datasets☆14Apr 24, 2025Updated 9 months ago
- ☆25May 30, 2025Updated 8 months ago
- 添加了qdldl库。并根据MATLAB帮助文档写了一个简单的例子。☆23Sep 24, 2020Updated 5 years ago
- Rviz plugins to display whole-body states and trajectories☆73Jan 19, 2026Updated 3 weeks ago
- A ROS 2 pointcloud pipeline demo☆10Jun 1, 2022Updated 3 years ago
- ☆10Oct 24, 2017Updated 8 years ago
- pyQpController is the proof of concept simulator attached to the paper: Impact-Friendly Robust Control Design with Task-Space Quadratic O…☆13Apr 13, 2022Updated 3 years ago
- ☆12Jan 30, 2022Updated 4 years ago
- Official implementation of HEAD CoRL 2025☆24Aug 22, 2025Updated 5 months ago
- Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions" on unitree G1☆71Aug 16, 2025Updated 5 months ago
- Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"☆217Dec 30, 2021Updated 4 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆57May 14, 2024Updated last year
- ☆12Dec 13, 2023Updated 2 years ago
- Common utility functions and algorithms for robotics work used by ARC & ARM labs and TRI. This is a mirror of https://github.com/calderpg…☆13Dec 8, 2025Updated 2 months ago
- cppad+Ipopt demo以及OSQP demo程序☆13Nov 23, 2022Updated 3 years ago
- 多足机器人MPC控制器+仿真环境☆13Feb 15, 2023Updated 3 years ago
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆58Jul 28, 2020Updated 5 years ago
- ☆35Feb 7, 2022Updated 4 years ago