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mayataka / srbd-mpc

Single Rigid Body Dynamics-based linear MPC for quadrupedal robots

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srbd-mpc

Single Rigid-Body Dynamics (SRBD) based linear convex MPC for real-time ground reaction force (GRF) planning

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Single Rigid Body Dynamics-based linear MPC for quadrupedal robots

License:MIT License

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Language:C++ 87.5%Language:CMake 12.5%