robotology / whole-body-controllers
Simulink-based whole body controllers for humanoid robots.
☆116Updated 6 months ago
Related projects: ⓘ
- Bipedal locomotion software for the humanoid robot platform iCub.☆113Updated this week
- Code for the ATRIAS bipedal robot. Contains the hardware interface, controllers, simulation, and post-processing tools.☆11Updated 9 years ago
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆38Updated 4 years ago
- Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to g…☆89Updated 4 years ago
- Weekly MATLAB exercises of the course "Robot Dynamics", ETH Zürich (Fall 2020).☆72Updated 2 years ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆72Updated last year
- ☆148Updated last year
- 单腿跳跃机器人，参考marc raibert的legged robots that banlance☆51Updated last year
- ☆43Updated 2 years ago
- ☆39Updated last year
- Humanoid walking controller with various baseline methods☆113Updated last month
- ☆37Updated 5 years ago
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆146Updated this week
- Repo containing the urdf and frost based models of Cassie☆88Updated 5 years ago
- ☆10Updated 3 years ago
- Work done in IHMC Robotics since Aug 2019☆55Updated 2 years ago
- Representation-Free Model Predictive Control for Dynamic Quadruped☆185Updated last year
- Examples of efficient trajectory optimization for robot motion planning☆87Updated 4 years ago
- Collection of centroidal control for legged robots☆61Updated last month
- UDRF model of CASSIE robot☆34Updated 5 years ago
- Manipulator and mobile robot models for trajectory planning and actuator analysis.☆48Updated last month
- Extended version of Featherstone's spatial_v2 package☆51Updated 3 weeks ago
- mpc and wbc for mini cheetah in pybullet☆49Updated 3 years ago
- The Dynamic Whole-body Locomotion library (DWL)☆82Updated 5 years ago
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆86Updated 4 months ago
- Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"☆136Updated 2 years ago
- Spring Loaded Inverted Pendulum control and visualization python tools☆42Updated 2 years ago
- ☆74Updated this week
- Compliant Joint Toolbox (CJT) for MATLAB and Simulink☆37Updated 2 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆31Updated 3 years ago