sqrt81 / src_dog
Quadruped Simulation & Controlling with Gazebo.
☆11Updated 4 years ago
Alternatives and similar repositories for src_dog:
Users that are interested in src_dog are comparing it to the libraries listed below
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated 2 years ago
- linear MPC based on OSQP☆8Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆58Updated 2 years ago
- ☆17Updated 4 years ago
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆11Updated 3 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 7 months ago
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆31Updated 4 years ago
- ☆12Updated 4 years ago
- ☆18Updated last year
- Non-linear model predictive control (NMPC) library☆42Updated last year
- Sampling based control for kino-dynamic contact aware motion planning.☆24Updated 3 years ago
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆33Updated 3 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆38Updated 8 months ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- Terrain mapping algorithm for motion planning and control in legged locomotion☆29Updated 6 years ago
- ☆12Updated 2 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆32Updated 2 years ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆10Updated 4 years ago
- ☆14Updated 2 years ago
- Gazebo Simulation Packages for Ghost Minitaur and Scout Quadruped Robot☆11Updated 4 years ago
- RobCoGen code generator for any quadruped robot from the xacro description☆14Updated 4 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆37Updated 3 years ago
- Memmo Winter-school material for the Pinocchio class☆15Updated 6 years ago
- Quadruped Robot Planning ROS Package☆20Updated 11 months ago
- ROS package for creating a terrain cost map using RGBD Camera for locomotion of legged Robots.☆10Updated 3 years ago
- Trajectory Optimization for Legged Robots by matlab and Casadi☆10Updated 10 months ago
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆14Updated 2 years ago
- Walking pattern generation examples using zero moment point method☆31Updated 4 years ago
- A high-level online motion planner for agile legged robots, implemented as a ROS package☆24Updated 2 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆45Updated 8 months ago