sqrt81 / src_dog
Quadruped Simulation & Controlling with Gazebo.
☆12Updated 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
- linear MPC based on OSQP☆9Updated 2 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆24Updated 2 years ago
- ROS package for creating a terrain cost map using RGBD Camera for locomotion of legged Robots.☆10Updated 4 years ago
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆32Updated 4 years ago
- RobCoGen code generator for any quadruped robot from the xacro description☆15Updated 4 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆39Updated 9 months ago
- ☆18Updated last year
- Non-linear model predictive control (NMPC) library☆48Updated 3 weeks ago
- Planning framework for legged locomotion☆19Updated 8 months ago
- Quadruped state estimation using kalman☆12Updated 2 years ago
- Gazebo Simulation Packages for Ghost Minitaur and Scout Quadruped Robot☆11Updated 4 years ago
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆16Updated 2 years ago
- Legged robot foot's trajectory planner based on bezier curves☆15Updated last year
- auto planning footholds of quadrupedal robots with user specified gait and gait cycles☆33Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆46Updated 9 months ago
- ☆14Updated 2 years ago
- This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipe…☆60Updated 2 years ago
- ☆19Updated 4 years ago
- ☆19Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆35Updated 2 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 8 months ago
- Quadruped Robot Planning ROS Package☆21Updated last year
- Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements☆16Updated 2 years ago
- Sampling based control for kino-dynamic contact aware motion planning.☆25Updated 4 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- Memmo Winter-school material for the Pinocchio class☆15Updated 6 years ago
- A high-level online motion planner for agile legged robots, implemented as a ROS package☆24Updated 2 years ago
- ☆93Updated 2 years ago
- mpc and wbc for mini cheetah in pybullet☆50Updated 4 years ago