robotology / whole-body-controllers
Simulink-based whole body controllers for humanoid robots.
☆124Updated 8 months ago
Related projects ⓘ
Alternatives and complementary repositories for whole-body-controllers
- Representation-Free Model Predictive Control for Dynamic Quadruped☆195Updated last year
- Humanoid walking controller with various baseline methods☆125Updated this week
- Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to g…☆91Updated 4 years ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆77Updated last year
- Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).☆77Updated 3 years ago
- Bipedal locomotion software for the humanoid robot platform iCub.☆123Updated 2 weeks ago
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆42Updated 4 years ago
- Repo containing the urdf and frost based models of Cassie☆90Updated 5 years ago
- ☆159Updated 2 years ago
- Manipulator and mobile robot models for trajectory planning and actuator analysis.☆49Updated 3 months ago
- UDRF model of CASSIE robot☆35Updated 5 years ago
- Code for the ATRIAS bipedal robot. Contains the hardware interface, controllers, simulation, and post-processing tools.☆11Updated 9 years ago
- mpc and wbc for mini cheetah in pybullet☆49Updated 4 years ago
- Collection of centroidal control for legged robots☆65Updated 3 months ago
- 基于零空间方法（NUB）的全身控制（WBC）的简单实现☆44Updated 4 years ago
- Compliant Joint Toolbox (CJT) for MATLAB and Simulink☆38Updated 2 years ago
- ☆44Updated 2 years ago
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆155Updated this week
- ☆40Updated last year
- 单腿跳跃机器人，参考marc raibert的legged robots that banlance☆53Updated 2 years ago
- ☆10Updated 3 years ago
- TROPIC: TRajectory OPtimization In CasADi☆53Updated 3 years ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆91Updated 6 months ago
- This repository includes the inverse kinematics solver code for 7-DoF anthropomorphic manipulators and a redundancy resolution strategy w…☆35Updated 3 years ago
- Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"☆158Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆33Updated 3 years ago
- Extended version of Featherstone's spatial_v2 package☆51Updated this week
- Online and offline planning for fast nonprehensile object transportation with a mobile manipulator.☆77Updated last week
- Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio☆196Updated this week
- Work done in IHMC Robotics since Aug 2019☆56Updated 2 years ago