whole-body-control

There are 2 repositories under whole-body-control topic.

leggedrobotics / free_gait
An Architecture for the Versatile Control of Legged Robots
legged-robots robot robotics motion control free-gait motion-planning motion-design whole-body-control whole-body-api api apis ros
Language:C++ 397
ihmcrobotics / ihmc-open-robotics-software
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
humanoid-robot ihmc java robotics walking whole-body-control
Language:Java 247
real-stanford / umi-on-legs
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers
quadruped reinforcement-learning robotic-manipulation robotics whole-body-control
Language:Python 154
UT-Austin-RPL / TRILL
Official codebase for Teleoperation and Imitation Learning for Loco-manipulation (TRILL)
deep-learning humanoid-robot imitation-learning robotics virtual-reality whole-body-control
Language:Python 88
robot-locomotion / dwl
The Dynamic Whole-body Locomotion library (DWL)
legged-robots motion-planning optimization toolbox trajectory-optimization whole-body-control
Language:C++ 81
junhyeokahn / PnC
Planning and Control Algorithms for Robotics
robotics reinforcement-learning whole-body-control trajectory-optimization optimal-control
Language:C++ 51
junhyeokahn / PyPnC
Python Implementation of Planning and Control
robotics simulation planning control machine-learning optimization walking-pattern-generation whole-body-control locomotion
Language:C++ 45
pal-robotics / tiago_robot
end-effector human-robot-interaction mobile-manipulator mobile-navigation robotics robots ros ros-melodic teleoperation whole-body-control noetic compliant-control humble ros2 ros2-humble
Language:Python 36
ADVRHumanoids / XBotControl
XBotControl framework: XBotCore + OpenSoT + CartesI/O
real-time software-architecture robotics whole-body-control cartesian-controller
33
shbang91 / rpc
Robot Planning and Control (rpc) is a software framework designed for generating task trajectories (planning) and tracking the trajectories (control) for legged systems.
legged-robots reinforcement-learning robotics trajectory-optimization whole-body-control
Language:C++ 17
pal-robotics / talos_robot
bipedal-robots walking-robot ros whole-body-control torque-control biped mpc-control grasping force-torque-sensor imu-sensor torque-sensors robotics humanoid-control humanoid-robot humanoid-walking
Language:C++ 16
pal-robotics / reemc_robot
Scripts and configuration files to launch when bringing up REEM-C.
bipedal-robots biped ros walking-robot whole-body-control dancing-robot navigation grasping robotics humanoid-control humanoid-robot humanoid-walking
Language:Python 9
pal-robotics / tiago_dual_robot
manipulator navigation robotics ros bimanipulator advanced-navigation impedance-control mobile-manipulator mobile-manipulators whole-body-control mobile-bimanipulator mobile-navigation omnibase teleoperation noetic compliant-control
Language:EmberScript 4
ocra-recipes / ocra-wbi-plugins
Controller implementations and plugins for communicating between the whole body controller libraries developed at ISIR, ocra-recipes, and the iCub Whole Body Interface, WBI, libraries.
robotics icub kuka control humanoids whole-body-control yarp
Language:C++ 3
RobotMotorIntelligence / whole_body_mpc_msgs
ROS messages used by the whole-body MPC
ros message whole-body-control model-predictive-control
Language:C++ 2