Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent component of motion" in matlab
☆14Mar 20, 2020Updated 5 years ago
Alternatives and similar repositories for dcm_matlab
Users that are interested in dcm_matlab are comparing it to the libraries listed below
Sorting:
- ☆22Jun 12, 2023Updated 2 years ago
- ☆43Jun 9, 2023Updated 2 years ago
- ☆18Mar 2, 2025Updated last year
- ☆46May 14, 2022Updated 3 years ago
- Implementation of a planar bipedal walking using Hybrid Zero Dynamics in Python☆17Dec 16, 2020Updated 5 years ago
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆21May 27, 2022Updated 3 years ago
- Learning Model for Aggressive Jumping Maneuvers☆28Mar 5, 2025Updated 11 months ago
- Code for the ATRIAS bipedal robot. Contains the hardware interface, controllers, simulation, and post-processing tools.☆11Mar 19, 2015Updated 10 years ago
- A Bipedal Gait Generation Library Using Equilibria and Numerical Continuation Methods. For example gaits, visit https://nr-codes.github.…☆12Jul 15, 2021Updated 4 years ago
- A collection of MPC walking scripts with various models☆44Feb 5, 2025Updated last year
- Python implementation for ZMP preview control☆103Apr 4, 2023Updated 2 years ago
- Read "humanoid robot" and implement some algorithms☆10Jan 8, 2018Updated 8 years ago
- Implementation of the paper "Hybrid Zero Dynamics of Planar Bipedal Walking"☆10Dec 6, 2018Updated 7 years ago
- ☆11Sep 16, 2021Updated 4 years ago
- Collection of centroidal control for legged robots☆82Oct 23, 2025Updated 4 months ago
- ☆52Mar 26, 2019Updated 6 years ago
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆85Dec 26, 2023Updated 2 years ago
- Scott Kuindersma在讲述Atlas控制技术时提到的部分论文☆29Aug 18, 2021Updated 4 years ago
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆12Jan 5, 2021Updated 5 years ago
- Some QP solver method's implementation, such as ADMM, active set, interior-point method☆27Jul 30, 2022Updated 3 years ago
- Spring Loaded Inverted Pendulum control and visualization python tools☆56Oct 18, 2021Updated 4 years ago
- Minimal example on how to use Boost::Python in a ROS package build with catkin.☆15Jun 1, 2021Updated 4 years ago
- Here are some examples of walking pattern generators using Model predictive control.☆12Nov 8, 2023Updated 2 years ago
- This package is devoted to teleportation of four legged robots☆12Jan 29, 2021Updated 5 years ago
- Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control☆13Dec 31, 2019Updated 6 years ago
- A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn☆389Jan 5, 2025Updated last year
- This repository shows how to follow the guidelines from Pinocchio to generate walking gaits for a humanoid robot.☆15Aug 31, 2023Updated 2 years ago
- codebase of oracle guided multimodal policies.☆21Apr 15, 2024Updated last year
- ZMP support areas for multi-contact stability under frictional contacts☆14Oct 6, 2018Updated 7 years ago
- ☆46Sep 29, 2024Updated last year
- Code dump of of a state estimator estimator for a robot with a floating base. Previously used on the Mercury robot.☆17Feb 18, 2020Updated 6 years ago
- Multi contact trajectory generation for the COM using Bezier curves☆23Updated this week
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆73Feb 29, 2024Updated 2 years ago
- Simultaneous Localization and Mapping using Extended Kalman Filter☆13Dec 15, 2020Updated 5 years ago
- Learning Drake from the perspective of a robotics beginner.☆43Apr 21, 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
- ☆38Nov 15, 2021Updated 4 years ago
- Trajectory optimization in MATLAB for MIT Cheetah☆43Sep 12, 2021Updated 4 years ago
- Open Source Code for the IROS 2024 Paper☆214Sep 12, 2025Updated 5 months ago