MIT Cheetah I Implementation
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Updated
Jul 4, 2024 - C++
MIT Cheetah I Implementation
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
An Architecture for the Versatile Control of Legged Robots
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
Visualization of Motions for Legged Robots in ros-rviz
OpenSHC: A Versatile Multilegged Robot Controller
Open-source wheeled biped robots
Humanoid walking controller with various baseline methods
The Dynamic Whole-body Locomotion library (DWL)
Collection of centroidal control for legged robots
Visualize Legged Robot Trajectories with Unreal Engine
Whole body Inverse Kinematics based on Pinocchio and qpmad
Terrain mapping algorithm for motion planning and control in legged locomotion
Humanoid multi-contact motion controller
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
Humanoid footstep planner based on baseline methods with graph search
An implementation of the paper "Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control" into Quad-SDK
ROS package; legged robot urdf and plugin
A musculoskeletal modelling system using ODE, PhysX or MuJoCo backends
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