resibots / inria_wbcLinks
Generic whole-body controller based on quadratic programming
☆19Updated 10 months ago
Alternatives and similar repositories for inria_wbc
Users that are interested in inria_wbc are comparing it to the libraries listed below
Sorting:
- C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver☆42Updated last week
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆41Updated 5 months ago
- ICRA 2022 paper☆39Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆67Updated last year
- C++ library for optimization-based control of redundant robots☆63Updated last month
- Simulation environment with Atlas(V5) model in MuJoCo based on ROS2☆18Updated 2 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21Updated 3 years ago
- Central repository for shared mobile manipulation code.☆17Updated last week
- A Modular Framework for Robot Planning, Control, and Deployment (RPC). It is designed to integrate multiple physics-based simulators, pla…☆53Updated this week
- ☆25Updated 5 years ago
- A collection of MPC walking scripts with various models☆40Updated 7 months ago
- ☆28Updated 3 years ago
- ☆54Updated 6 years ago
- MATLAB codes for optimal excitation trajectories☆28Updated 4 years ago
- Planning and Control Algorithms for Robotics☆64Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆45Updated 2 years ago
- Hierachical Quadratic Problem solver☆11Updated 12 years ago
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆23Updated 3 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆72Updated last year
- Standardised ROS messages for encoding whole-body state information☆13Updated last week
- ☆43Updated 2 years ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆19Updated 3 years ago
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆18Updated 2 years ago
- ☆17Updated 6 months ago
- Official code repository for the work "On the Surprising Robustness of Sequential Convex Optimization for Contact-Implicit Motion Plannin…☆42Updated last month
- This repo contains the quadruped controller used at DFKI's underactuated lab. It mainly contains a simulation, dynamic walking controller…☆33Updated 4 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆28Updated 2 years ago
- Force control functions for robot control☆14Updated 2 months ago
- ☆12Updated 9 months ago
- ☆46Updated 10 months ago