Simulink-based whole body controllers for humanoid robots.
☆149Dec 20, 2024Updated last year
Alternatives and similar repositories for whole-body-controllers
Users that are interested in whole-body-controllers are comparing it to the libraries listed below
Sorting:
- 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
- A robot simulator running on simulink☆35May 29, 2024Updated last year
- Bipedal locomotion software for the humanoid robot platform iCub.☆151Feb 24, 2026Updated last week
- Suite of libraries for achieving bipedal locomotion on humanoid robots☆207Updated this week
- YARP devices that implement estimators for humanoid robots.☆25Mar 1, 2025Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆69Jul 5, 2024Updated last year
- Walking controller for humanoid robots based on inverted pendulum tracking☆263Aug 11, 2023Updated 2 years ago
- RBDL - Rigid Body Dynamics Library☆12Jul 27, 2022Updated 3 years ago
- CMake/YCM-based superbuild to simplify the build process of robotology projects.☆56Updated this week
- Whole-Body Control framework developed at the Stanford Robotics and AI Lab☆30Mar 3, 2014Updated 12 years ago
- Collection of centroidal control for legged robots☆82Oct 23, 2025Updated 4 months 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 11 months ago
- Generic whole body control library with QP: inverse dynamics and kinematics☆20Jul 14, 2023Updated 2 years ago
- ☆38Nov 15, 2021Updated 4 years ago
- Representation-Free Model Predictive Control for Dynamic Quadruped☆235Feb 28, 2025Updated last year
- A distributed whole-body model predictive control for quadruped robots☆79Apr 22, 2025Updated 10 months ago
- Quadruped manipulator controller using model predictive control and whole body control based on OCS2☆313Mar 28, 2025Updated 11 months ago
- ICRA 2022 paper☆42Aug 30, 2024Updated last year
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆19Mar 3, 2021Updated 5 years ago
- In this repository we share software for dynamics simulations of the jet-powered humanoid iRonCub-Mk1.☆15Apr 16, 2025Updated 10 months ago
- Whole body Inverse Kinematics based on Pinocchio and qpmad☆42Dec 31, 2023Updated 2 years ago
- Linear Inverted Pendulum Model based bipedal walking☆204Sep 7, 2025Updated 6 months ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆92Mar 27, 2023Updated 2 years ago
- Use QP and whole-body PID to control a 12DOF robot dog.☆43Jul 30, 2019Updated 6 years ago
- Efficient optimal control solvers for robotic systems.☆309Dec 22, 2022Updated 3 years ago
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆391Jan 5, 2025Updated last year
- Humanoid multi-contact motion controller☆42Feb 4, 2025Updated last year
- Code for our ICRA 2024 paper on learning diverse skills☆26Apr 6, 2024Updated last year
- iDynFor☆15Mar 14, 2024Updated last year
- Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to g…☆99Sep 17, 2020Updated 5 years ago
- ☆46May 14, 2022Updated 3 years ago
- Optimal Control for Switched Systems☆1,295Mar 2, 2026Updated last week
- Package for generation of symbolic (SX) expressions of robot kinematics and dynamics. Based on URDF and Pinocchio.☆118Sep 30, 2025Updated 5 months ago
- Humanoid robotics prototyping environment based on OpenRAVE☆232Feb 19, 2024Updated 2 years ago
- Planning and Control Algorithms for Robotics☆68Jan 20, 2023Updated 3 years ago
- Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for …☆304Updated this week
- Simulink toolbox to rapidly prototype robot controllers☆25Oct 10, 2025Updated 4 months ago
- TROPIC: TRajectory OPtimization In CasADi☆56May 16, 2021Updated 4 years ago
- An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.☆565May 20, 2024Updated last year