zha0ming1e / legged_mpc_controlLinks
A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms
☆54Updated 2 years ago
Alternatives and similar repositories for legged_mpc_control
Users that are interested in legged_mpc_control are comparing it to the libraries listed below
Sorting:
- Quadruped manipulator planner and controller using MPC and WBC based on OCS2: Unitree AlienGo + Z1☆57Updated 10 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆47Updated last year
- Bipedal robot control using ocs2☆99Updated 2 weeks ago
- This repository contains papers in the field of legged robots.☆55Updated last week
- ☆110Updated last year
- ☆116Updated 7 months ago
- The main contribution of this project is to add an MPC controller to the official unitree_guide project, making it easier for students le…☆36Updated last year
- ☆87Updated 9 months ago
- Towards better athletic intelligence☆136Updated last week
- Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)☆81Updated last year
- A distributed whole-body model predictive control for quadruped robots☆52Updated 2 months ago
- ☆182Updated 2 years ago
- ☆61Updated last year
- ☆41Updated last year
- ROS2 version of OCS2, refactor with modern-cmake☆97Updated last month
- A humanoid bipedal walking control repo using NMPC and WBC on ROS2, and simulation with mujoco. Contact: bth@mail.ustc.edu.cn☆19Updated 4 months ago
- ☆61Updated 7 months ago
- compare different algorithm☆18Updated 2 years ago
- ZMP Preview Control Walking Pattern Generation for Biped Humanoid Robot☆47Updated 5 years ago
- Unofficial implementaton of the paper DTC: Deep Tracking Control☆63Updated 7 months ago
- This repository provides an implementation of a bipedal locomotion controller, described in the paper Terrain-Adaptive, ALIP-Based Bipeda…☆86Updated 2 years ago
- ☆33Updated 3 years ago
- ☆100Updated 2 years ago
- [RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipul…☆104Updated 3 months ago
- A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.☆31Updated 3 months ago
- This repository is an open-sourced code for the IROS 2024 paper.☆162Updated 4 months ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆64Updated last year
- A Python implementation about quadruped locomotion using convex model predictive control (MPC).☆45Updated 2 years ago
- This Project extends the concepts of the Anymal C robot developed by the ANYmal group and uses the simulation of this robot coupled with …☆14Updated 2 years ago
- Quaternion Model Predictive Control for Legged Robots☆59Updated 9 months ago