zixinz990 / quaternion-mpc
Quaternion Model Predictive Control for Legged Robots
☆31Updated 5 months ago
Alternatives and similar repositories for quaternion-mpc:
Users that are interested in quaternion-mpc are comparing it to the libraries listed below
- ☆32Updated 4 months ago
- Quadruped state estimation using kalman☆12Updated 2 years ago
- ☆16Updated 3 weeks ago
- C++ library to implement invariant extended Kalman filtering (InEKF) for aided inertial navigation.☆35Updated 2 years ago
- A nonlinear MPC framework for agile and versatile quadruped locomotion☆59Updated 8 months ago
- Numerical experiments for the paper: "MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on t…☆47Updated 3 months ago
- [ICRAM 2023] V-RPC : Vision-Based Reactive Planning and Control of Quadruped Robots in Unstructured Dynamic Environments☆19Updated last year
- ☆47Updated 3 months ago
- Implementation of some core elements of "Learning robust perceptive locomotion for quadrupedal robots in the wild"☆42Updated last year
- Code related with the paper "Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quad…☆38Updated 9 months ago
- Learning Model for Aggressive Jumping Maneuvers☆14Updated last week
- Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments☆21Updated 6 months ago
- Globally Safe Model-free Exploration of Dynamical Systems☆31Updated 4 months ago
- Trajectory optimization in MATLAB for MIT Cheetah☆38Updated 3 years ago
- Code for the paper Reactive Landing Controller for Quadruped Robots☆16Updated last year
- RAPTOR: RAPid and Robust Trajectory Optimization for Robots☆84Updated 2 weeks ago
- ☆92Updated 2 years ago
- A collection of MPC walking scripts with various models☆33Updated last month
- A distributed whole-body model predictive control for quadruped robots☆30Updated 3 months ago
- Probabilistic Contact State Estimation for Legged Robots in ROS☆69Updated 3 months ago
- ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox☆46Updated 9 months ago
- ☆31Updated 3 years ago
- Planning framework for legged locomotion☆18Updated 8 months ago
- ☆14Updated 8 months ago
- [IROS 2024] LEEPS : Learning End-to-End Legged Perceptive Parkour Skills on Challenging Terrains☆49Updated 8 months ago
- ☆37Updated last year
- Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control☆89Updated 8 months ago