zanppa / WPG
Walking pattern generation examples using zero moment point method
☆32Updated 4 years ago
Alternatives and similar repositories for WPG:
Users that are interested in WPG are comparing it to the libraries listed below
- ICRA 2022 paper☆35Updated 7 months ago
- MLP : a Decoupled and Modular Framework for Multicontact Locomotion Planning☆66Updated last year
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆36Updated 2 years ago
- Omnidirectional Walking Pattern Generation for Humanoid Robot using ZMP Preview Control☆12Updated 5 years ago
- Collection of centroidal control for legged robots☆71Updated 8 months ago
- ☆27Updated 3 years ago
- Material for lab sessions of course "Optimization and Learning for Robot Control" @ UniTN☆26Updated 5 months ago
- A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.☆32Updated 4 years ago
- ☆39Updated 3 years ago
- ☆47Updated 6 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 last week
- RL training for quadruped robot(mit minicheetah) various gaits in different velocity based on MPC controller.☆17Updated 2 years ago
- C++ library for optimization-based control of redundant robots☆59Updated 3 weeks ago
- Julia implementation of the Kinodynamic Fabrics whole-body control framework☆49Updated last year
- Trajectory optimization in MATLAB for MIT Cheetah☆39Updated 3 years ago
- A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.☆25Updated 3 years ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆46Updated 10 months ago
- ☆31Updated 3 years ago
- ☆38Updated 6 years ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆72Updated 4 months ago
- A whole-body controller with disturbance rejection through a momentum-based observer for quadruped robots☆25Updated 2 years ago
- ☆42Updated last year
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆21Updated 7 months ago
- Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…☆14Updated 5 years ago
- A distributed whole-body model predictive control for quadruped robots☆37Updated this week
- ☆34Updated 5 months ago
- Simulation environment with Digit model in MuJoCo based on ROS2☆10Updated last year
- Reinforcement learning framework from RSL for policy training with RaiSim.☆55Updated 3 years ago
- Gazebo simulator for the Agility Robotics Cassie robot☆20Updated 5 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆60Updated 9 months ago