projectatctu / ocs2_funLinks
ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox
☆47Updated last year
Alternatives and similar repositories for ocs2_fun
Users that are interested in ocs2_fun are comparing it to the libraries listed below
Sorting:
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆64Updated 11 months ago
- ☆33Updated 3 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms☆53Updated 2 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 2 months ago
- Quaternion Model Predictive Control for Legged Robots☆58Updated 8 months ago
- ☆100Updated 2 years ago
- compare different algorithm☆18Updated 2 years ago
- ☆35Updated 2 years ago
- ☆22Updated last year
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆57Updated 9 months ago
- ☆22Updated 3 weeks ago
- ☆38Updated 7 months ago
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 months ago
- This repository contains papers in the field of legged robots.☆53Updated last week
- A collection of MPC walking scripts with various models☆37Updated 4 months ago
- ☆11Updated last month
- ICRA 2022 paper☆39Updated 9 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆26Updated 2 years ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆49Updated 2 years ago
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆48Updated 4 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆40Updated 2 years ago
- Towards better athletic intelligence☆26Updated 2 weeks ago
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- ☆26Updated 5 months ago
- pybullet WBC quadruped robot☆10Updated 3 years ago
- ☆43Updated 2 years ago
- SEIKO Controller: Multi-Contact Whole Body Force Control for Position-Controlled Robots☆49Updated last year
- Deploying a quadruped robot policy trained in Isaacgym to ROS2 Gazebo for Sim-to-Sim☆19Updated 2 months ago
- This Project extends the concepts of the Anymal C robot developed by the ANYmal group and uses the simulation of this robot coupled with …☆13Updated 2 years ago