stevenjj / dcm_matlab
Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent component of motion" in matlab
☆9Updated 4 years ago
Related projects ⓘ
Alternatives and complementary repositories for dcm_matlab
- Single Rigid Body Dynamics-based linear MPC for quadrupedal robots☆18Updated 2 years ago
- The pybullet simulation of a RRP Hopper based on the Raibert decoupled controller.☆10Updated 3 years ago
- ICRA 2022 paper☆29Updated 2 months ago
- ☆10Updated 2 years ago
- Standardised ROS messages for encoding whole-body state information☆15Updated this week
- A collection of tutorials for robotoc, efficient optimal control solvers for robotic systems.☆17Updated 2 years ago
- Gazebo Simulation Packages for Ghost Minitaur and Scout Quadruped Robot☆10Updated 4 years ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆22Updated this week
- ☆12Updated last year
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆58Updated 4 months ago
- ☆22Updated 4 years ago
- ☆13Updated last year
- Minimal project using Pinocchio as Rigid Body Dynamics library☆19Updated this week
- ☆44Updated 2 years ago
- Package containing MATLAB and C++ model files for a compliant model of the Cassie biped.☆10Updated 3 years ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆31Updated last year
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆56Updated 8 months ago
- ☆45Updated 5 years ago
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆33Updated 5 months ago
- ☆30Updated 2 years ago
- ☆28Updated last year
- EagleMPC is a model predictive control & optimal control library for unmanned aerial manipulators (UAMs)☆28Updated 3 years ago
- ☆25Updated 4 years ago
- ☆40Updated last year
- ☆18Updated 2 years ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆23Updated last year
- Code for the paper "Non-Linear Trajectory Optimization for Large Step-Ups: Application to the Humanoid Robot Atlas"☆18Updated 3 years ago
- ☆30Updated last year
- ☆24Updated 2 years ago
- Memmo Winter-school material for the Pinocchio class☆15Updated 5 years ago