yonchien's repositories
legged_mpc_control
A legged robot controller for Unitree A1 and Go1 robot using different MPC algorithms
rl-mpc-locomotion
A fast simulation and RL training framework for quadrupad locomotion.
Awesome_Quadrupedal_Robots
Awesome Quadrupedal Robots
IHMC-Robotics
Work done in IHMC Robotics since Aug 2019
Lagrange-Dynamics-of-Quadruped-Single-Leg-
I provided a matlab program that can generate the single leg Lagrangian symbolic formula of the quadruped robot
simulation
Simulation of IUST's (Iran University of Science and Technology) quadruped.
a1_mpc_raisim
A control example code of A1 robot
Walking_Robot_Quadruped_MPC
A program in Walking Robot course.
srbd-mpc
Single Rigid Body Dynamics-based linear MPC for quadrupedal robots
Trajectory-Optimization-for-Legged-Robots
Trajectory Optimization for Legged Robots by matlab and Casadi
underactuated
The course text for MIT 6.832 (and 6.832x on edX)
cheetah_gym
Open AI Gym environment to train the MIT Mini Cheetah robot in pybullet
WBC-four-leg-robot-controller
pybullet WBC quadruped robot
can_comunication
Repo for CAN comunication using a Intel NUC, USB2CAN inno-maker board and MIT mini cheetah drivers.
QuadrupedInverseKinematic
Inverse Kinematic of Quadruped Robot Leg
multiple-gait-controller-for-quadruped-robot
Learning multiple gaits of quadruped robot using hierarchical reinforcement learning
wheeled-bipedal-jumping
Height Control and Optimal Torque Planning for Jumping With Wheeled-Bipedal Robots
mini_cheetah_gait
mit mini cheetah phase based gait from Cheetah-Software
cheetah_ros
ros-control interface and basic controllers for quadruped robot
quadruped_drake
Using Drake to Simulate and Control Quadrupedal Robots
rb_unitree_legged_sdk
SDK for Unitree A1, Co-Working with Wego Robotics
VMC-QP
VMC+QP力分配， MIT KF方法，未融合加速度
MIT-Cheetah-Note
MIT Cheetah仿真平台源码笔记以及一部分第三方组件
jump-optimization
static jump optimization for Pupper