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a1-qp-mpc-controller

An open source implementation of MIT Cheetah 3 controllers

acdc4robot

ACDC4Robot: Automated Conversion of Description Conventions for Robots from Design to Learning

cheetah-software-detailed-comments

cmu_optiaml_control_quiz_solutions

composite_image

This repo provide a python script to create a composite image from a video.

dog_rl_deploy

四足机器人强化学习实物部署（Sim to Real）

foot-vision

This is the repository for Foot Vision

hector_simulation

Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)

himloco

Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control

hunter_bipedal_control

An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.

hw1_s24_solutions

CMU_optimal_control_HW1_S24_solutions

hw2_s24_solutions

CMU_optimal_control_HW2_S24_solutions

hw3_s24_solutions

CMU_optimal_control_HW3_S24_solutions

hw4_s24_solutions

CMU_optimal_control_HW4_S24_solutions

landing-controller

Trajectory optimization in MATLAB for MIT Cheetah

legged_control_yangshuo

Nonlinear MPC and WBC framework for legged robot based on OCS2 and ros-controls

legged_mpc_control

A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms

livelybot_dynamic_control

The robot model of this repository is based on HighTorque’s 12-degree-of-freedom robot. The two degrees of freedom of the ankle joint are bound together in urdf, and the robot's degree of freedom becomes 10 degrees of freedom. Verified on bridgedp's code.

livelybot_rl_control

Reinforcement Learning Environments based on Isaac Gym Environments for HighTorque’s Legged Robot.

nabo

Open project for biped robot with c++. Cross OS, cross simulation platform or even real robot.

ocs2_legged_robot_notes

optimal-control-16-745

2024

pbrs-humanoid

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

pympc-quadruped

A Python implementation about quadruped locomotion using convex model predictive control (MPC).

quadruped_cheetah_backflip

reactive_landing_controller

softrobotictongs

thowell_motion_planning

Algorithm and model experiments for robot motion planning. Implemented in Julia.

trajectory-optimization-for-legged-robots

Trajectory Optimization for Legged Robots by matlab and Casadi